117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.7s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass55 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 163 warnings · 19284 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925186 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925186 ms (missed cycles : 4).[0m ×2 + 0.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.11sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.11sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.11sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.22sINFOros2_control_node[2026-08-20 19:06:25.083] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-08-20 19:06:25.083] [info] Accepted new action goal ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149855 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149855 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537349 ms (missed cycles : 6). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537349 ms (missed cycles : 6).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677349 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677349 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787252788.68836212 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787252789.29674768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479471 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479471 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.60sINFOros2_control_node[2026-08-20 19:06:29.470] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-20 19:06:29.470] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187493 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187493 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.88sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925782 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925782 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130075 ms (missed cycles : 5). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130075 ms (missed cycles : 5).[0m ×2 + 8.04sINFOjoint_trajectory_controllerReceived new action goal ×3172 + 8.04sINFOjoint_trajectory_controllerAccepted new action goal ×3172 + 8.04sINFOros2_control_nodeReceived new action goal[0m ×6344 + 8.05sINFOros2_control_nodeAccepted new action goal[0m ×6344 + 8.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207338 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207338 ms (missed cycles : 2).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456556 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456556 ms (missed cycles : 3).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507732 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507732 ms (missed cycles : 3).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800666 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800666 ms (missed cycles : 2).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072834 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072834 ms (missed cycles : 2).[0m ×2 + 12.93sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.93sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.93sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.93sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.93sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781047 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781047 ms (missed cycles : 2).[0m ×2 + 14.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982433 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982433 ms (missed cycles : 3).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003510 ms (missed cycles : 4). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003510 ms (missed cycles : 4).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180958 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180958 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928369 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928369 ms (missed cycles : 2).[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982694 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982694 ms (missed cycles : 2).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709498 ms (missed cycles : 3). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709498 ms (missed cycles : 3).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816106 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816106 ms (missed cycles : 2).[0m ×2 + 21.37sWARNros2_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 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.689197 ms (missed cycles : 8). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.689197 ms (missed cycles : 8).[0m ×2 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713506 ms (missed cycles : 2). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713506 ms (missed cycles : 2).[0m ×2 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800276 ms (missed cycles : 2). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800276 ms (missed cycles : 2).[0m ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812281 ms (missed cycles : 2). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812281 ms (missed cycles : 2).[0m ×2 + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763183 ms (missed cycles : 2). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763183 ms (missed cycles : 2).[0m ×2 + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008172 ms (missed cycles : 2). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008172 ms (missed cycles : 2).[0m ×2 + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151120 ms (missed cycles : 2). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151120 ms (missed cycles : 2).[0m ×2 + 28.44sWARNros2_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 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913178 ms (missed cycles : 2). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913178 ms (missed cycles : 2).[0m ×2 + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561340 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561340 ms (missed cycles : 2).[0m ×2 + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.782488 ms (missed cycles : 5). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.782488 ms (missed cycles : 5).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927305 ms (missed cycles : 3). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927305 ms (missed cycles : 3).[0m ×2 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689472 ms (missed cycles : 2). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689472 ms (missed cycles : 2).[0m ×2 + 34.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699805 ms (missed cycles : 2). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699805 ms (missed cycles : 2).[0m ×2 + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710617 ms (missed cycles : 2). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710617 ms (missed cycles : 2).[0m ×2 + 36.25sWARNros2_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 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795220 ms (missed cycles : 2). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795220 ms (missed cycles : 2).[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843352 ms (missed cycles : 2). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843352 ms (missed cycles : 2).[0m ×2 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393057 ms (missed cycles : 2). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393057 ms (missed cycles : 2).[0m ×2 + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708573 ms (missed cycles : 2). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708573 ms (missed cycles : 2).[0m ×2 + 41.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875251 ms (missed cycles : 2). + 41.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875251 ms (missed cycles : 2).[0m ×2 + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844352 ms (missed cycles : 2). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844352 ms (missed cycles : 2).[0m ×2 + 43.22sWARNros2_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 + 43.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609326 ms (missed cycles : 4). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609326 ms (missed cycles : 4).[0m ×2 + 44.54sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225122 ms (missed cycles : 4). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225122 ms (missed cycles : 4).[0m ×2 + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827836 ms (missed cycles : 2). + 46.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827836 ms (missed cycles : 2).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758207 ms (missed cycles : 2). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758207 ms (missed cycles : 2).[0m ×2 + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422016 ms (missed cycles : 2). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422016 ms (missed cycles : 2).[0m ×2 + 48.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787252833.09574842 seconds ×3 + 48.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787252833.72940636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.92sINFOobjective_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 + 48.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 49.02sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 49.04sINFOros2_control_node[2026-08-20 19:07:13.906] [info] Received new action goal ×2 + 49.04sINFOros2_control_node[2026-08-20 19:07:13.906] [info] Accepted new action goal ×2 + 49.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016076 ms (missed cycles : 4). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016076 ms (missed cycles : 4).[0m ×2 + 50.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348045 ms (missed cycles : 6). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348045 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.6s | 151 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_node[2026-08-20 19:05:31.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866027220 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866056815 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-20 19:05:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-20 19:05:32.084746583 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087912297 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087931509 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.82sINFOobjective_server_node[2026-08-20 19:05:32.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-20 19:05:32.487755667 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508880976 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508907495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.52sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787252734.27165198 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787252734.96773791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530102 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530102 ms (missed cycles : 6).[0m ×2 + 6.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 6.97sINFOros2_control_node[2026-08-20 19:05:38.302] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-08-20 19:05:38.302] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143266 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143266 ms (missed cycles : 4).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502069 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502069 ms (missed cycles : 3).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.022061 ms (missed cycles : 6). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.022061 ms (missed cycles : 6).[0m ×2 + 10.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.15sINFOros2_control_node[2026-08-20 19:05:41.481] [info] Received new action goal ×2 + 10.15sINFOros2_control_node[2026-08-20 19:05:41.481] [info] Accepted new action goal ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.422163 ms (missed cycles : 6). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.422163 ms (missed cycles : 6).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870048 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870048 ms (missed cycles : 3).[0m ×2 + 12.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607652 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607652 ms (missed cycles : 2).[0m ×2 + 13.15sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 13.15sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.20sINFOros2_control_node[2026-08-20 19:05:44.525] [info] Received new action goal ×2 + 13.20sINFOros2_control_node[2026-08-20 19:05:44.525] [info] Accepted new action goal ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276861 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276861 ms (missed cycles : 2).[0m ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057596 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057596 ms (missed cycles : 2).[0m ×2 + 16.16sINFOobjective_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 + 16.16sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.16sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.16sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.16sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.741672 ms (missed cycles : 5). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.741672 ms (missed cycles : 5).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759654 ms (missed cycles : 3). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759654 ms (missed cycles : 3).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467542 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467542 ms (missed cycles : 3).[0m ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983630 ms (missed cycles : 5). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983630 ms (missed cycles : 5).[0m ×2 + 19.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753572 ms (missed cycles : 5). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753572 ms (missed cycles : 5).[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418448 ms (missed cycles : 4). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418448 ms (missed cycles : 4).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784304 ms (missed cycles : 3). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784304 ms (missed cycles : 3).[0m ×2 + 22.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 22.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.94sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.94sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.94sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.95sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686055 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686055 ms (missed cycles : 2).[0m ×2 + 23.83sINFOros2_control_node[2026-08-20 19:05:55.161] [info] Received new action goal ×2 + 23.83sINFOros2_control_node[2026-08-20 19:05:55.161] [info] Accepted new action goal ×2 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173320 ms (missed cycles : 2). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173320 ms (missed cycles : 2).[0m ×2 + 24.64sWARNros2_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 + 25.00sINFOobjective_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 + 25.01sINFOobjective_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 + 25.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 25.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.34sINFOros2_control_node[2026-08-20 19:05:56.667] [info] Received new action goal ×2 + 25.34sINFOros2_control_node[2026-08-20 19:05:56.667] [info] Accepted new action goal ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966613 ms (missed cycles : 2). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966613 ms (missed cycles : 2).[0m ×2 + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111009 ms (missed cycles : 2). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111009 ms (missed cycles : 2).[0m ×2 + 27.46sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 27.47sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.48sINFOros2_control_node[2026-08-20 19:05:58.812] [info] Received new action goal ×2 + 27.48sINFOros2_control_node[2026-08-20 19:05:58.812] [info] Accepted new action goal ×2 + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772357 ms (missed cycles : 4). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772357 ms (missed cycles : 4).[0m ×2 + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436161 ms (missed cycles : 2). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436161 ms (missed cycles : 2).[0m ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839124 ms (missed cycles : 2). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839124 ms (missed cycles : 2).[0m ×2 + 30.51sINFOros2_control_node[2026-08-20 19:06:01.841] [info] Received new action goal ×2 + 30.51sINFOros2_control_node[2026-08-20 19:06:01.841] [info] Accepted new action goal ×2 + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775879 ms (missed cycles : 2). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775879 ms (missed cycles : 2).[0m ×2 + 31.52sWARNros2_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 + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852765 ms (missed cycles : 2). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852765 ms (missed cycles : 2).[0m ×2 + 33.10sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 33.11sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.16sINFOros2_control_node[2026-08-20 19:06:04.485] [info] Received new action goal ×2 + 33.16sINFOros2_control_node[2026-08-20 19:06:04.485] [info] Accepted new action goal ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199014 ms (missed cycles : 2). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199014 ms (missed cycles : 2).[0m ×2 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871325 ms (missed cycles : 4). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871325 ms (missed cycles : 4).[0m ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.197122 ms (missed cycles : 6). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.197122 ms (missed cycles : 6).[0m ×2 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261202 ms (missed cycles : 2). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261202 ms (missed cycles : 2).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794154 ms (missed cycles : 2). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794154 ms (missed cycles : 2).[0m ×2 + 37.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 38.07sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332757 ms (missed cycles : 2). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332757 ms (missed cycles : 2).[0m ×2 + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221183 ms (missed cycles : 2). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221183 ms (missed cycles : 2).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022779 ms (missed cycles : 2). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022779 ms (missed cycles : 2).[0m ×2 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.499712 ms (missed cycles : 7). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.499712 ms (missed cycles : 7).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225247 ms (missed cycles : 5). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225247 ms (missed cycles : 5).[0m ×2 + 43.82sINFOros2_control_node[2026-08-20 19:06:15.151] [info] Received new action goal ×2 + 43.82sINFOros2_control_node[2026-08-20 19:06:15.151] [info] Accepted new action goal ×2 + 44.98sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787252776.30793643 seconds ×3 + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510322 ms (missed cycles : 2). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510322 ms (missed cycles : 2).[0m ×2 + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882249 ms (missed cycles : 2). + 46.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882249 ms (missed cycles : 2).[0m ×2 + 46.40sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787252777.72805691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604997 ms (missed cycles : 4). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604997 ms (missed cycles : 4).[0m ×2 + 47.62sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 47.63sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.64sINFOros2_control_node[2026-08-20 19:06:18.972] [info] Received new action goal ×2 + 47.64sINFOros2_control_node[2026-08-20 19:06:18.972] [info] Accepted new action goal ×2 + 48.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355168 ms (missed cycles : 3). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355168 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.4s | 111 warnings · 2751 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×423 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×423 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×846 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×846 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202388 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202388 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622754 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622754 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706937 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706937 ms (missed cycles : 2).[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221312 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221312 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787252855.22662497 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×5 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787252855.85827184 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 ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOobjective_server_nodeFound path in 5 iterations (0.00643162 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436761 ms (missed cycles : 6). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436761 ms (missed cycles : 6).[0m ×2 + 4.90sINFOros2_control_node[2026-08-20 19:07:36.144] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-20 19:07:36.144] [info] Accepted new action goal ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693057 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693057 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2).[0m ×2 + 7.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 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 1.870054 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870054 ms (missed cycles : 2).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757248 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757248 ms (missed cycles : 2).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408573 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408573 ms (missed cycles : 4).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298853 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298853 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.606370 ms (missed cycles : 7). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.606370 ms (missed cycles : 7).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937244 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937244 ms (missed cycles : 2).[0m ×2 + 14.18sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.71sWARNros2_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 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374724 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374724 ms (missed cycles : 4).[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806831 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806831 ms (missed cycles : 2).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849350 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849350 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966940 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966940 ms (missed cycles : 2).[0m ×2 + 18.98sINFOobjective_server_nodeFound path in 4 iterations (0.0034287 s). ×2 + 19.06sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.10sINFOobjective_server_nodeFound path in 12 iterations (0.00723341 s). ×2 + 19.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021039 ms (missed cycles : 2). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021039 ms (missed cycles : 2).[0m ×2 + 19.21sINFOobjective_server_nodeFound path in 2 iterations (0.00533822 s). ×2 + 19.26sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 19.28sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 19.32sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.34sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 19.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 19.40sINFOobjective_server_nodeFound path in 8 iterations (0.00375012 s). ×2 + 19.46sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 19.48sINFOobjective_server_nodeFound path in 1 iterations (0.00411158 s). ×2 + 19.54sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 19.56sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 19.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.62sINFOobjective_server_nodeFound path in 4 iterations (0.00599518 s). ×2 + 19.72sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.74sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 19.81sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 19.83sINFOobjective_server_nodeFound path in 4 iterations (0.00313583 s). ×2 + 19.93sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X_____________________X] ×2 + 19.96sINFOobjective_server_nodeFound path in 1 iterations (0.0057802 s). ×2 + 20.02sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.05sINFOobjective_server_nodeFound path in 1 iterations (0.00310216 s). ×2 + 20.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 20.16sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 20.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.22sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969697 ms (missed cycles : 2). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969697 ms (missed cycles : 2).[0m ×2 + 20.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 20.33sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 20.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 20.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×4 + 20.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.66sINFOros2_control_node[2026-08-20 19:07:51.898] [info] Received new action goal ×2 + 20.66sINFOros2_control_node[2026-08-20 19:07:51.898] [info] Accepted new action goal ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640952 ms (missed cycles : 3). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640952 ms (missed cycles : 3).[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939884 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939884 ms (missed cycles : 2).[0m ×2 + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212773 ms (missed cycles : 2). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212773 ms (missed cycles : 2).[0m ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716468 ms (missed cycles : 5). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716468 ms (missed cycles : 5).[0m ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697157 ms (missed cycles : 2). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697157 ms (missed cycles : 2).[0m ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535828 ms (missed cycles : 4). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535828 ms (missed cycles : 4).[0m ×2 + 26.77sINFOros2_control_node[2026-08-20 19:07:58.010] [info] Received new action goal ×2 + 26.77sINFOros2_control_node[2026-08-20 19:07:58.010] [info] Accepted new action goal ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135858 ms (missed cycles : 5). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135858 ms (missed cycles : 5).[0m ×2 + 28.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.13sINFOros2_control_node[2026-08-20 19:07:59.371] [info] Received new action goal ×2 + 28.13sINFOros2_control_node[2026-08-20 19:07:59.371] [info] Accepted new action goal ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039365 ms (missed cycles : 3). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039365 ms (missed cycles : 3).[0m ×2 + 29.17sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.21sINFOros2_control_node[2026-08-20 19:08:00.452] [info] Received new action goal ×2 + 29.21sINFOros2_control_node[2026-08-20 19:08:00.452] [info] Accepted new action goal ×2 + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702896 ms (missed cycles : 3). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702896 ms (missed cycles : 3).[0m ×2 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299590 ms (missed cycles : 5). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299590 ms (missed cycles : 5).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807095 ms (missed cycles : 2). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807095 ms (missed cycles : 2).[0m ×2 + 32.47sWARNros2_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 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305165 ms (missed cycles : 3). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305165 ms (missed cycles : 3).[0m ×2 + 33.44sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787252884.67846727 seconds ×3 + 33.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787252885.35437608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.34sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 34.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.35sINFOros2_control_node[2026-08-20 19:08:05.588] [info] Received new action goal ×2 + 34.35sINFOros2_control_node[2026-08-20 19:08:05.588] [info] Accepted new action goal ×2 + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757276 ms (missed cycles : 2). + 34.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757276 ms (missed cycles : 2).[0m ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614670 ms (missed cycles : 6). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614670 ms (missed cycles : 6).[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 · 14050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2315 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2315 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4630 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4630 + 0.30sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225122 ms (missed cycles : 4). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225122 ms (missed cycles : 4).[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827836 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827836 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758207 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758207 ms (missed cycles : 2).[0m ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422016 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422016 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787252833.09574842 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×7 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787252833.72940636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.80sINFOros2_control_node[2026-08-20 19:07:13.906] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-20 19:07:13.906] [info] Accepted new action goal ×2 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016076 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016076 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.10sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 6.12sINFOobjective_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 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348045 ms (missed cycles : 6). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348045 ms (missed cycles : 6).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728498 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728498 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196747 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196747 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828357 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828357 ms (missed cycles : 3).[0m ×2 + 10.10sWARNros2_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 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190239 ms (missed cycles : 5). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190239 ms (missed cycles : 5).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644553 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644553 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616462 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616462 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818184 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818184 ms (missed cycles : 2).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453789 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453789 ms (missed cycles : 3).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109213 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109213 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644208 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644208 ms (missed cycles : 2).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559976 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559976 ms (missed cycles : 2).[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052804 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052804 ms (missed cycles : 2).[0m ×2 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361253 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361253 ms (missed cycles : 3).[0m ×2 + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868841 ms (missed cycles : 2). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868841 ms (missed cycles : 2).[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105494 ms (missed cycles : 2). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105494 ms (missed cycles : 2).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202388 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202388 ms (missed cycles : 2).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622754 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622754 ms (missed cycles : 3).[0m ×2 + 24.00sWARNros2_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 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706937 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706937 ms (missed cycles : 2).[0m ×2 + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221312 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221312 ms (missed cycles : 2).[0m ×2 + 26.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787252855.22662497 seconds ×3 + 26.75sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787252855.85827184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.94sINFOobjective_server_nodeFound path in 5 iterations (0.00643162 s). ×2 + 27.02sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436761 ms (missed cycles : 6). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436761 ms (missed cycles : 6).[0m ×2 + 27.04sINFOros2_control_node[2026-08-20 19:07:36.144] [info] Received new action goal ×2 + 27.04sINFOros2_control_node[2026-08-20 19:07:36.144] [info] Accepted new action goal ×2 + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693057 ms (missed cycles : 3). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693057 ms (missed cycles : 3).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 19.2s | 3 errors · 80 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_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 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Canceling active goal... ×2 + 2.50sERRORobjective_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: 1787252657.43618274 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053907 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053907 ms (missed cycles : 2).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715451 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715451 ms (missed cycles : 2).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869452 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869452 ms (missed cycles : 2).[0m ×2 + 9.81sWARNros2_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 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967847 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967847 ms (missed cycles : 2).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751870 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751870 ms (missed cycles : 2).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950450 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950450 ms (missed cycles : 2).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179213 ms (missed cycles : 5). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179213 ms (missed cycles : 5).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369551 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369551 ms (missed cycles : 2).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.440766 ms (missed cycles : 9). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.440766 ms (missed cycles : 9).[0m ×2 + 16.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 16.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 16.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 16.30sINFOobjective_server_nodeFound path in 0 iterations (6.35e-07 s). ×2 + 16.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292936 ms (missed cycles : 2). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292936 ms (missed cycles : 2).[0m ×2 + 16.33sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 16.35sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 16.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 16.43sINFOobjective_server_nodeFound path in 1 iterations (0.00433544 s). ×2 + 16.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 16.65sINFOros2_control_node[2026-08-20 19:04:31.592] [info] Received new action goal ×2 + 16.65sINFOros2_control_node[2026-08-20 19:04:31.592] [info] Accepted new action goal ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859480 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859480 ms (missed cycles : 2).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.398296 ms (missed cycles : 7). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.398296 ms (missed cycles : 7).[0m ×2 + 19.13sINFOros2_control_node[2026-08-20 19:04:34.065] [info] Received new action goal ×2 + 19.13sINFOros2_control_node[2026-08-20 19:04:34.065] [info] Accepted new action goal ×2 + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2).[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2).[0m ×2 + 21.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 21.09sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Received new action goal ×2 + 21.09sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Accepted new action goal ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2).[0m ×2 + 22.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 22.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787252677.41942334 seconds ×3 + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2).[0m ×2 + 23.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787252678.04712319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787252678.12726235 seconds ×3 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2).[0m ×2 + 23.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787252678.77847886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 23.95sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 23.97sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Received new action goal ×2 + 23.97sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Accepted new action goal ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 59 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219747 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219747 ms (missed cycles : 2).[0m ×2 + 0.01sWARNros2_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 ×4 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 1 iterations (0.00348072 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.46sINFOros2_control_node[2026-08-20 19:05:08.385] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-08-20 19:05:08.385] [info] Accepted new action goal ×2 + 0.90sINFOros2_control_node[2026-08-20 19:05:08.817] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-20 19:05:08.817] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919636 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919636 ms (missed cycles : 2).[0m ×2 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036721 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036721 ms (missed cycles : 3).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.00sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.04sERRORobjective_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: 1787252710.96263814 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057544 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057544 ms (missed cycles : 5).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787252711.73882413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.99sINFOros2_control_node[2026-08-20 19:05:11.913] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-08-20 19:05:11.913] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716554 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716554 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760065 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760065 ms (missed cycles : 2).[0m ×2 + 5.97sWARNros2_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 + 6.50sINFOros2_control_node[2026-08-20 19:05:14.421] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-08-20 19:05:14.421] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655031 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655031 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293564 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293564 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245508 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245508 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450972 ms (missed cycles : 4). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450972 ms (missed cycles : 4).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936946 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936946 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940247 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940247 ms (missed cycles : 2).[0m ×2 + 11.97sWARNros2_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 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125130 ms (missed cycles : 5). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125130 ms (missed cycles : 5).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459257 ms (missed cycles : 4). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459257 ms (missed cycles : 4).[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787252722.99303007 seconds ×3 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645916 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645916 ms (missed cycles : 2).[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787252723.65559173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.78sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787252723.71571422 seconds ×3 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6).[0m ×2 + 16.39sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787252724.31674075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.51sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 16.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.52sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Received new action goal ×2 + 16.52sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Accepted new action goal ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.499712 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.499712 ms (missed cycles : 7).[0m ×2 + 0.08sWARNros2_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 + 0.32sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.32sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.32sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.32sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225247 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225247 ms (missed cycles : 5).[0m ×2 + 1.19sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.20sINFOros2_control_node[2026-08-20 19:06:15.151] [info] Received new action goal ×2 + 1.20sINFOros2_control_node[2026-08-20 19:06:15.151] [info] Accepted new action goal ×2 + 2.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787252776.30793643 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510322 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510322 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882249 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882249 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787252777.72805691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604997 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604997 ms (missed cycles : 4).[0m ×2 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.02sINFOros2_control_node[2026-08-20 19:06:18.972] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-20 19:06:18.972] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355168 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355168 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898503 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898503 ms (missed cycles : 5).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881606 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881606 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992082 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992082 ms (missed cycles : 2).[0m ×2 + 8.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.72sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.72sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.72sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.72sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221646 ms (missed cycles : 4). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221646 ms (missed cycles : 4).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925186 ms (missed cycles : 4). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925186 ms (missed cycles : 4).[0m ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.13sINFOros2_control_node[2026-08-20 19:06:25.083] [info] Received new action goal ×2 + 11.13sINFOros2_control_node[2026-08-20 19:06:25.083] [info] Accepted new action goal ×2 + 11.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149855 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149855 ms (missed cycles : 2).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537349 ms (missed cycles : 6). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537349 ms (missed cycles : 6).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677349 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677349 ms (missed cycles : 2).[0m ×2 + 14.74sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787252788.68836212 seconds ×3 + 15.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787252789.29674768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479471 ms (missed cycles : 4). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479471 ms (missed cycles : 4).[0m ×2 + 15.51sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 15.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.52sINFOros2_control_node[2026-08-20 19:06:29.470] [info] Received new action goal ×2 + 15.52sINFOros2_control_node[2026-08-20 19:06:29.470] [info] Accepted new action goal ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187493 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187493 ms (missed cycles : 2).[0m ×2 + 16.79sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925782 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925782 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 61 errors · 39 warnings · 319 info |
+ 0.00sINFOobjective_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 + 0.00sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Canceling active goal... ×2 + 0.01sERRORobjective_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: 1787252940.42459798 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787252941.03324699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787252942.39338613 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787252942.99977136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.58sINFOobjective_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 + 2.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787252943.00179291 seconds ×3 + 3.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787252943.73066354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787252943.73117995 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883221 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883221 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787252944.33710623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944551 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787252945.53723454 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931687 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931687 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300268 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300268 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508186 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508186 ms (missed cycles : 3).[0m ×2 + 8.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150363 ms (missed cycles : 5). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150363 ms (missed cycles : 5).[0m ×2 + 8.99sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153245 ms (missed cycles : 6). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153245 ms (missed cycles : 6).[0m ×2 + 10.52sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.54sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORweb_video_auth_proxy-23process has died [pid 9083, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.55sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.56sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORweb_bridge_auth_proxy-22process has died [pid 9080, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.57sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.60sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.61sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.63sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.64sINFOvideo_server-21process has finished cleanly [pid 9079] ×2 + 10.64sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.65sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.65sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.66sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.68sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.69sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.71sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.72sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.73sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.75sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.76sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.76sINFOcontroller_managerShutdown request received.... + 10.76sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.77sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.77sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.77sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.77sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.77sINFOvideo_server2026/08/20 19:09:11 INF shutting down gracefully ×2 + 10.77sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.77sINFOvideo_server2026/08/20 19:09:11 INF [WebRTC] closing ×2 + 10.77sINFOvideo_server2026/08/20 19:09:11 INF [RTSP] closing ×2 + 10.77sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.77sINFOvideo_server2026/08/20 19:09:11 INF waiting for running hooks ×2 + 10.77sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.77sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.77sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.77sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.77sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.77sINFOcontroller_managerShutting down the controller manager. + 10.77sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.77sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.77sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.77sERRORmove_groupStack trace (most recent call last) in thread 9429: ×2 + 10.77sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.77sERRORmove_group-9process has died [pid 9004, 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_9xm235dp --params-file /tmp/launch_params_12evp9nn --params-file /tmp/launch_params_y1f8jm_h --params-file /tmp/launch_params_wrobd8vh --params-file /tmp/launch_params_5fo096t5 --params-file /tmp/launch_params_nk28qn5x']. ×2 + 10.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7d50fe4a63, in __clone ×2 + 10.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7d50f57aa3, in ×2 + 10.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7d511e9db3, in ×2 + 10.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7d5195a637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7d5157b620, in rclcpp::Rate::sleep() ×2 + 10.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7d514bdd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7d5147f087, in ×2 + 10.77sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7d511b8390, in __cxa_throw ×2 + 10.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7d511a2a54, in std::terminate() ×2 + 10.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7d511b80d9, in ×2 + 10.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7d511a2ff4, in ×2 + 10.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7d50ee38fe, in abort ×2 + 10.78sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7d50f0027d, in raise ×2 + 10.78sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7d50f59b2c, in pthread_kill ×2 + 10.78sERRORmove_groupAborted (Signal sent by tkill() 9004 0) ×2 + 10.78sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.78sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.78sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.78sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.78sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.78sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.78sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.78sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.97sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.98sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.98sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.65sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9078] ×2 + 11.65sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.74sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9008] ×2 + 11.74sINFOui_teleop_bridge-18process has finished cleanly [pid 9013] ×2 + 11.75sINFOexecute_objective_bridge-17process has finished cleanly [pid 9012] ×2 + 11.75sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9007] ×2 + 11.76sINFOcomponent_container_mt-16process has finished cleanly [pid 9011] ×2 + 11.80sINFOwaypoint_manager_node-11process has finished cleanly [pid 9006] ×2 + 11.80sINFOparameter_manager_node-10process has finished cleanly [pid 9005] ×2 + 11.82sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 11.90sINFOobjective_server_node[0;m[2026-08-20 19:09:12.311] [moveit_pro_license] [info] ×2 + 11.90sINFOobjective_server_node************************************************* ×4 + 11.90sINFOobjective_server_node* MoveIt Pro License ×2 + 11.90sINFOobjective_server_node* Application has successfully terminated ×2 + 12.36sINFOobjective_server_node_main-14process has finished cleanly [pid 9009] ×2 + 12.36sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.87sINFOcomponent_container_mt-15process has finished cleanly [pid 9010] ×2 + 13.05sINFOweb_bridge-19process has finished cleanly [pid 9014] ×2 + 13.06sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.40sINFOros2_control_node-1process has finished cleanly [pid 8967] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 60 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 1.94sINFOobjective_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 + 1.94sERRORobjective_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: 1787252927.91619086 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.15sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 + 4.90sWARNros2_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 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961432 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961432 ms (missed cycles : 2).[0m ×2 + 7.47sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.47sINFOros2_control_node[2026-08-20 19:08:53.443] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-08-20 19:08:53.443] [info] Accepted new action goal ×2 + 7.47sINFOros2_control_node[2026-08-20 19:08:53.444] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732613 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732613 ms (missed cycles : 2).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162908 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162908 ms (missed cycles : 2).[0m ×2 + 9.91sWARNros2_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 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477711 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477711 ms (missed cycles : 3).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170563 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170563 ms (missed cycles : 2).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3).[0m ×2 + 14.45sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Got request to cancel active goal. ×2 + 14.45sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Canceling active goal... ×2 + 14.45sERRORobjective_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: 1787252940.42459798 seconds ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2).[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787252941.03324699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5).[0m ×2 + 16.06sWARNros2_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 + 16.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787252942.39338613 seconds ×3 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3).[0m ×2 + 17.03sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787252942.99977136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.03sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.03sINFOobjective_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 + 17.03sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.03sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787252943.00179291 seconds ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 176 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623978 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623978 ms (missed cycles : 4).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426400 ms (missed cycles : 5). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426400 ms (missed cycles : 5).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914588 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914588 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787252916.94851232 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603005 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603005 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787252917.55586171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-08-20 19:08:37.689] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-20 19:08:37.689] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315245 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315245 ms (missed cycles : 3).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637849 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637849 ms (missed cycles : 6).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913473 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913473 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235850 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235850 ms (missed cycles : 2).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762641 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762641 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2).[0m ×2 + 12.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 14.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sERRORobjective_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: 1787252927.91619086 seconds ×3 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 15.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 16.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.21sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 16.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 16.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.04sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 17.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 17.05sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 17.05sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.965323 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.965323 ms (missed cycles : 6).[0m ×2 + 0.52sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.80sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.80sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.80sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787252697.84205127 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277206 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277206 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238796 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238796 ms (missed cycles : 2).[0m ×2 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459323 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459323 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787252700.63923049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.83sINFOros2_control_node[2026-08-20 19:05:00.843] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-20 19:05:00.843] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768834 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768834 ms (missed cycles : 3).[0m ×2 + 4.87sWARNros2_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 ×4 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.296020 ms (missed cycles : 8). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.296020 ms (missed cycles : 8).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188787 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188787 ms (missed cycles : 2).[0m ×2 + 7.34sINFOobjective_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 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837441 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837441 ms (missed cycles : 3).[0m ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 1 iterations (0.00273963 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 1 iterations (0.00574582 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (7.88e-07 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.35sINFOros2_control_node[2026-08-20 19:05:05.356] [info] Received new action goal ×2 + 8.35sINFOros2_control_node[2026-08-20 19:05:05.356] [info] Accepted new action goal ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395699 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395699 ms (missed cycles : 4).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070553 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070553 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219747 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219747 ms (missed cycles : 2).[0m ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.07sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.16sINFOobjective_server_nodeFound path in 1 iterations (0.00348072 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.37sINFOros2_control_node[2026-08-20 19:05:08.385] [info] Received new action goal ×2 + 11.37sINFOros2_control_node[2026-08-20 19:05:08.385] [info] Accepted new action goal ×2 + 11.81sINFOros2_control_node[2026-08-20 19:05:08.817] [info] Received new action goal ×2 + 11.81sINFOros2_control_node[2026-08-20 19:05:08.817] [info] Accepted new action goal ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919636 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919636 ms (missed cycles : 2).[0m ×2 + 12.39sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036721 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036721 ms (missed cycles : 3).[0m ×2 + 13.90sINFOobjective_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 + 13.91sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.91sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.91sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.91sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.95sERRORobjective_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: 1787252710.96263814 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057544 ms (missed cycles : 5). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057544 ms (missed cycles : 5).[0m ×2 + 14.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787252711.73882413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.90sINFOros2_control_node[2026-08-20 19:05:11.913] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-08-20 19:05:11.913] [info] Accepted new action goal ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716554 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716554 ms (missed cycles : 3).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760065 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760065 ms (missed cycles : 2).[0m ×2 + 16.88sWARNros2_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 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757910 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757910 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.56sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.58sINFOros2_control_node[2026-08-20 19:04:09.743] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-08-20 19:04:09.743] [info] Accepted new action goal ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340444 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340444 ms (missed cycles : 3).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863143 ms (missed cycles : 4). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863143 ms (missed cycles : 4).[0m ×2 + 8.87sWARNros2_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 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419468 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419468 ms (missed cycles : 3).[0m ×2 + 10.26sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 10.28sINFOros2_control_node[2026-08-20 19:04:13.443] [info] Received new action goal ×2 + 10.28sINFOros2_control_node[2026-08-20 19:04:13.443] [info] Accepted new action goal ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153392 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153392 ms (missed cycles : 3).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 13.59sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 13.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.61sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 13.61sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2).[0m ×2 + 14.25sINFOobjective_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 + 14.25sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 14.26sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Canceling active goal... ×2 + 14.27sERRORobjective_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: 1787252657.43618274 seconds ×3 + 14.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.87sWARNros2_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 + 14.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 15.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 15.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.84sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 54 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798620 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798620 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616841 ms (missed cycles : 4). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616841 ms (missed cycles : 4).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907957 ms (missed cycles : 4). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907957 ms (missed cycles : 4).[0m ×2 + 9.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123210 ms (missed cycles : 4). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123210 ms (missed cycles : 4).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721239 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721239 ms (missed cycles : 2).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030476 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030476 ms (missed cycles : 3).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127252 ms (missed cycles : 4). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127252 ms (missed cycles : 4).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.437582 ms (missed cycles : 6). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.437582 ms (missed cycles : 6).[0m ×2 + 14.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sERRORobjective_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: 1787252906.41624022 seconds ×3 + 14.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787252907.05028415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884505 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884505 ms (missed cycles : 2).[0m ×2 + 15.30sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 15.31sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.32sINFOros2_control_node[2026-08-20 19:08:27.354] [info] Received new action goal ×2 + 15.32sINFOros2_control_node[2026-08-20 19:08:27.354] [info] Accepted new action goal ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407304 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407304 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848401 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848401 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945479 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945479 ms (missed cycles : 2).[0m ×2 + 8.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.13sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 1 iterations (0.00308927 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 1 iterations (0.00460156 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.94sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 9.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830643 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830643 ms (missed cycles : 2).[0m ×2 + 9.19sINFOros2_control_node[2026-08-20 19:04:55.110] [info] Received new action goal ×2 + 9.19sINFOros2_control_node[2026-08-20 19:04:55.110] [info] Accepted new action goal ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171482 ms (missed cycles : 5). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171482 ms (missed cycles : 5).[0m ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.965323 ms (missed cycles : 6). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.965323 ms (missed cycles : 6).[0m ×2 + 11.62sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.89sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.89sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.89sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787252697.84205127 seconds ×3 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277206 ms (missed cycles : 5). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277206 ms (missed cycles : 5).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238796 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238796 ms (missed cycles : 2).[0m ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459323 ms (missed cycles : 6). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459323 ms (missed cycles : 6).[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787252700.63923049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 14.92sINFOros2_control_node[2026-08-20 19:05:00.843] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-08-20 19:05:00.843] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768834 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768834 ms (missed cycles : 3).[0m ×2 + 15.96sWARNros2_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 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.296020 ms (missed cycles : 8). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.296020 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2).[0m ×2 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787252677.41942334 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2). + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787252678.04712319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787252678.12726235 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787252678.77847886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425973 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425973 ms (missed cycles : 2).[0m ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.91sINFOros2_control_node[2026-08-20 19:04:42.253] [info] Received new action goal ×2 + 7.91sINFOros2_control_node[2026-08-20 19:04:42.253] [info] Accepted new action goal ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015224 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015224 ms (missed cycles : 5).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.852593 ms (missed cycles : 6). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.852593 ms (missed cycles : 6).[0m ×2 + 9.41sWARNros2_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 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.25sINFOros2_control_node[2026-08-20 19:04:44.600] [info] Received new action goal ×2 + 10.26sINFOros2_control_node[2026-08-20 19:04:44.600] [info] Accepted new action goal ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603904 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603904 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 12.60sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 12.61sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 12.61sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 14.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 14.67sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 14.69sERRORobjective_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: 1787252689.03144264 seconds ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 15.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.42sWARNros2_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 + 15.53sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 15.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.54sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 15.54sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 54 warnings · 141 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702896 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702896 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299590 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299590 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807095 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807095 ms (missed cycles : 2).[0m ×2 + 2.21sWARNros2_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 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305165 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305165 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787252884.67846727 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.22sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787252885.35437608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-08-20 19:08:05.588] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-20 19:08:05.588] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757276 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757276 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614670 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614670 ms (missed cycles : 6).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706400 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706400 ms (missed cycles : 4).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478880 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478880 ms (missed cycles : 4).[0m ×2 + 7.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 1 iterations (0.00447653 s). ×2 + 7.90sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.06sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.08sINFOros2_control_node[2026-08-20 19:08:09.582] [info] Received new action goal ×2 + 8.08sINFOros2_control_node[2026-08-20 19:08:09.582] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817238 ms (missed cycles : 6). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817238 ms (missed cycles : 6).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715509 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715509 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 10.55sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 10.55sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 12.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.47sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 12.47sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 13.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 14.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.78sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 16.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721239 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721239 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030476 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030476 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127252 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127252 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.437582 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.437582 ms (missed cycles : 6).[0m ×2 + 3.30sINFOobjective_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 + 3.30sERRORobjective_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: 1787252906.41624022 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.91sWARNros2_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 + 3.93sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787252907.05028415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884505 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884505 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:27.354] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:27.354] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407304 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407304 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.949871 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.949871 ms (missed cycles : 6).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938598 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938598 ms (missed cycles : 3).[0m ×2 + 8.25sINFOros2_control_node[2026-08-20 19:08:31.363] [info] Received new action goal ×2 + 8.25sINFOros2_control_node[2026-08-20 19:08:31.363] [info] Accepted new action goal ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995232 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995232 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680158 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680158 ms (missed cycles : 4).[0m ×2 + 9.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623978 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623978 ms (missed cycles : 4).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426400 ms (missed cycles : 5). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426400 ms (missed cycles : 5).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914588 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914588 ms (missed cycles : 2).[0m ×2 + 13.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787252916.94851232 seconds ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603005 ms (missed cycles : 4). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603005 ms (missed cycles : 4).[0m ×2 + 14.44sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787252917.55586171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 14.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.57sINFOros2_control_node[2026-08-20 19:08:37.689] [info] Received new action goal ×2 + 14.57sINFOros2_control_node[2026-08-20 19:08:37.689] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315245 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315245 ms (missed cycles : 3).[0m ×2 + 15.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637849 ms (missed cycles : 6). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637849 ms (missed cycles : 6).[0m ×2 + 16.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 6.8s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787252723.65559173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787252723.71571422 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787252724.31674075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Accepted new action goal ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_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 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949574 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949574 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787252726.44687390 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218905 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218905 ms (missed cycles : 5).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787252728.04700971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422706 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422706 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406593 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406593 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_node[2026-08-20 19:05:29.614] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270707 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270707 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_node[0;93m2026-08-20 19:05:30.331198723 [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 + 6.68sINFOobjective_server_node[0;93m2026-08-20 19:05:30.331238198 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2).[0m ×2 + 7.69sINFOobjective_server_node[2026-08-20 19:05:31.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.21sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866027220 [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 + 8.21sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866056815 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.37sINFOobjective_server_node[2026-08-20 19:05:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.43sINFOobjective_server_node[0;93m2026-08-20 19:05:32.084746583 [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 + 8.43sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087912297 [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 + 8.43sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087931509 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.49sINFOobjective_server_node[2026-08-20 19:05:32.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2).[0m ×2 + 8.83sINFOobjective_server_node[0;93m2026-08-20 19:05:32.487755667 [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 + 8.85sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508880976 [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 + 8.85sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508907495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.19sWARNros2_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 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2).[0m ×2 + 10.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787252734.27165198 seconds ×3 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5).[0m ×2 + 11.31sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787252734.96773791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.39sINFOobjective_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 + 11.40sINFOobjective_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 + 11.68sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 11.68sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.74sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Received new action goal ×2 + 11.74sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Accepted new action goal ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125130 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125130 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459257 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459257 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787252722.99303007 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645916 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645916 ms (missed cycles : 2).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787252723.65559173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787252723.71571422 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787252724.31674075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5).[0m ×2 + 6.11sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949574 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949574 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787252726.44687390 seconds ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218905 ms (missed cycles : 5). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218905 ms (missed cycles : 5).[0m ×2 + 8.15sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787252728.04700971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422706 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422706 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406593 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406593 ms (missed cycles : 4).[0m ×2 + 9.72sINFOobjective_server_node[2026-08-20 19:05:29.614] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270707 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270707 ms (missed cycles : 3).[0m ×2 + 10.44sINFOobjective_server_node[0;93m2026-08-20 19:05:30.331198723 [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 + 10.44sINFOobjective_server_node[0;93m2026-08-20 19:05:30.331238198 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 3 errors · 32 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477711 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477711 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170563 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170563 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Got request to cancel active goal. ×2 + 4.06sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Canceling active goal... ×2 + 4.06sERRORobjective_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: 1787252940.42459798 seconds ×3 + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787252941.03324699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5).[0m ×2 + 5.67sWARNros2_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 + 6.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787252942.39338613 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787252942.99977136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.64sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787252943.00179291 seconds ×3 + 7.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787252943.73066354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787252943.73117995 seconds ×3 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883221 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883221 ms (missed cycles : 3).[0m ×2 + 7.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787252944.33710623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944551 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944551 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 34 warnings · 563 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.25sINFOobjective_server_node[2026-08-20 19:03:58.778] [moveit_pro_license] [info] ×2 + 0.25sINFOobjective_server_node************************************************* ×4 + 0.25sINFOobjective_server_node* MoveIt Pro License ×2 + 0.25sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.37sINFOobjective_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 + 0.37sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.38sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.38sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.38sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.38sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.38sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.38sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.38sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.38sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.81sINFOcomponent_container_mt[2026-08-20 19:03:59.346] [moveit_pro_license] [info] ×2 + 0.81sINFOcomponent_container_mt************************************************* ×4 + 0.82sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.82sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.84sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.84sWARNros2_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 + 0.84sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.84sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.84sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.84sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.84sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.84sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.84sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.84sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.84sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.84sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.85sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.85sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.85sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.85sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.85sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.85sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.85sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.85sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.85sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.85sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.85sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230681 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230681 ms (missed cycles : 2).[0m ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.91sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.91sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.02sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.02sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.03sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.03sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.04sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.04sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.04sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 1.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.36sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.39sINFOros2-3process has finished cleanly [pid 8969] ×2 + 1.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.73sINFOros2-4process has finished cleanly [pid 8970] ×2 + 1.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.89sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.89sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2).[0m ×2 + 1.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.93sINFOros2_control_node[2026-08-20 19:04:00.461] [info] Controller state will be published at 10 Hz. ×2 + 1.93sINFOros2_control_node[2026-08-20 19:04:00.462] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.97sWARNobjective_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 + 2.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.29sINFOros2-7process has finished cleanly [pid 8973] ×2 + 2.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 2.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 2.42sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.42sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.45sINFOros2_control_node[2026-08-20 19:04:00.980] [info] Controller state will be published at 20 Hz. ×2 + 2.45sINFOros2_control_node[2026-08-20 19:04:00.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.75sINFOros2-8process has finished cleanly [pid 8974] ×2 + 2.76sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.76sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.76sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.83sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 2.83sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 2.88sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.88sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.88sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.88sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.88sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.90sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.90sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 2.91sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.95sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.23sINFOros2-6process has finished cleanly [pid 8972] ×2 + 3.26sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.26sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.26sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.26sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.26sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 3.26sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 3.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.32sINFOforce_torque_sensor_broadcasterconfigure successful + 3.32sINFOros2_control_nodeconfigure successful[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 3.66sINFOros2-2process has finished cleanly [pid 8968] ×2 + 3.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 3.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 3.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.73sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.73sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.73sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.73sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.73sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.73sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.73sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.73sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.74sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.74sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.75sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.06sINFOros2-5process has finished cleanly [pid 8971] ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 4.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 5.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 5.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 7.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 7.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 7.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153392 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153392 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.92sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 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 + 3.57sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-20 19:04:17.419] [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: 1787252657.43618274 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.60sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.18sWARNros2_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 + 4.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 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 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.16sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3).[0m ×2 + 0.87sINFOobjective_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 + 0.88sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Got request to cancel active goal. ×2 + 0.88sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Canceling active goal... ×2 + 0.88sERRORobjective_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: 1787252940.42459798 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787252941.03324699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5).[0m ×2 + 2.49sWARNros2_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 + 2.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787252942.39338613 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787252942.99977136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.46sINFOobjective_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 + 3.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787252943.00179291 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787252943.73066354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787252943.73117995 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883221 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883221 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787252944.33710623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944551 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944551 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787252945.53723454 seconds ×3 + 6.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931687 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931687 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940247 ms (missed cycles : 2).[0m ×2 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125130 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125130 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459257 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459257 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787252722.99303007 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645916 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645916 ms (missed cycles : 2).[0m ×2 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787252723.65559173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787252723.71571422 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787252724.31674075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.69sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5).[0m ×2 + 6.25sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949574 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949574 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787252726.44687390 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-20 19:04:34.065] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-20 19:04:34.065] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787252677.41942334 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2). + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2).[0m ×2 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787252678.04712319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787252678.12726235 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787252678.77847886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.84sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 28 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 4.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sERRORobjective_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: 1787252927.91619086 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_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 + 5.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 + 6.99sWARNros2_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 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 27 warnings · 427 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 + 0.01sINFOros2-4process has finished cleanly [pid 8970] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.21sINFOros2_control_node[2026-08-20 19:04:00.461] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-20 19:04:00.462] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sWARNobjective_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 + 0.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2-7process has finished cleanly [pid 8973] ×2 + 0.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.73sINFOros2_control_node[2026-08-20 19:04:00.980] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-20 19:04:00.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 1.03sINFOros2-8process has finished cleanly [pid 8974] ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.18sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.51sINFOros2-6process has finished cleanly [pid 8972] ×2 + 1.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.59sINFOforce_torque_sensor_broadcasterconfigure successful + 1.59sINFOros2_control_nodeconfigure successful[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 1.93sINFOros2-2process has finished cleanly [pid 8968] ×2 + 1.94sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.94sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.94sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.94sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOros2-5process has finished cleanly [pid 8971] ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 5.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 6.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.86sINFOobjective_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 + 6.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.98sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 28 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2).[0m ×2 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 2.95sINFOobjective_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 + 2.95sERRORobjective_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: 1787252927.91619086 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 + 5.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2).[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 7.742653 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Got request to cancel active goal. ×2 + 1.91sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Canceling active goal... ×2 + 1.92sERRORobjective_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: 1787252940.42459798 seconds ×3 + 1.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787252941.03324699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5).[0m ×2 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787252942.39338613 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787252942.99977136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.49sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.49sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787252943.00179291 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787252943.73066354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787252943.73117995 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883221 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883221 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787252944.33710623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944551 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944551 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787252945.53723454 seconds ×3 + 7.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_node[2026-08-20 19:05:31.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866027220 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866056815 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-20 19:05:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-20 19:05:32.084746583 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087912297 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087931509 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.82sINFOobjective_server_node[2026-08-20 19:05:32.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-20 19:05:32.487755667 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508880976 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508907495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.52sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787252734.27165198 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787252734.96773791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2).[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 10.576654 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_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 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Canceling active goal... ×2 + 2.50sERRORobjective_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: 1787252657.43618274 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNros2_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 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[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 10.576654 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_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 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Canceling active goal... ×2 + 2.50sERRORobjective_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: 1787252657.43618274 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNros2_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 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[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 10.576654 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_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 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Canceling active goal... ×2 + 2.50sERRORobjective_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: 1787252657.43618274 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNros2_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 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[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 10.576654 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_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 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 2.48sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Canceling active goal... ×2 + 2.50sERRORobjective_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: 1787252657.43618274 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNros2_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 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[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 2.222237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2).[0m ×2 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787252677.41942334 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2). + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787252678.04712319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787252678.12726235 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787252678.77847886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7).[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 2.222237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2).[0m ×2 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787252677.41942334 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2). + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787252678.04712319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787252678.12726235 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787252678.77847886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_node[2026-08-20 19:05:31.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866027220 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866056815 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-20 19:05:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-20 19:05:32.084746583 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087912297 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087931509 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.82sINFOobjective_server_node[2026-08-20 19:05:32.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-20 19:05:32.487755667 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508880976 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508907495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.52sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787252734.27165198 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787252734.96773791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925186 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925186 ms (missed cycles : 4).[0m ×2 + 0.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.11sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.11sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.11sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.11sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.22sINFOros2_control_node[2026-08-20 19:06:25.083] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-08-20 19:06:25.083] [info] Accepted new action goal ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149855 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149855 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537349 ms (missed cycles : 6). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537349 ms (missed cycles : 6).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677349 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677349 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787252788.68836212 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787252789.29674768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479471 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479471 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.60sINFOros2_control_node[2026-08-20 19:06:29.470] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-20 19:06:29.470] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187493 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187493 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.88sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925782 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925782 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2607 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×423 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×423 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×846 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×846 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202388 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202388 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622754 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622754 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706937 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706937 ms (missed cycles : 2).[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221312 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221312 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787252855.22662497 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787252855.85827184 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 ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOobjective_server_nodeFound path in 5 iterations (0.00643162 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436761 ms (missed cycles : 6). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436761 ms (missed cycles : 6).[0m ×2 + 4.90sINFOros2_control_node[2026-08-20 19:07:36.144] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-20 19:07:36.144] [info] Accepted new action goal ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693057 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693057 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702896 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702896 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299590 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299590 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807095 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807095 ms (missed cycles : 2).[0m ×2 + 2.21sWARNros2_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 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305165 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305165 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787252884.67846727 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.22sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787252885.35437608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-08-20 19:08:05.588] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-20 19:08:05.588] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757276 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757276 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614670 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614670 ms (missed cycles : 6).[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 4.702896 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702896 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299590 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299590 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807095 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807095 ms (missed cycles : 2).[0m ×2 + 2.21sWARNros2_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 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305165 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305165 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787252884.67846727 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.22sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787252885.35437608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-08-20 19:08:05.588] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-20 19:08:05.588] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757276 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757276 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614670 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614670 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 45 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623978 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623978 ms (missed cycles : 4).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426400 ms (missed cycles : 5). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426400 ms (missed cycles : 5).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914588 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914588 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787252916.94851232 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603005 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603005 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787252917.55586171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-08-20 19:08:37.689] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-20 19:08:37.689] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315245 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315245 ms (missed cycles : 3).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637849 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637849 ms (missed cycles : 6).[0m ×2 + 6.53sINFOobjective_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 1.915085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 4.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sERRORobjective_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: 1787252927.91619086 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_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 + 5.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153392 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153392 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.92sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 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 + 3.57sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-20 19:04:17.419] [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: 1787252657.43618274 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.60sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.18sWARNros2_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 + 4.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 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 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.16sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[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 4.153392 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153392 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576654 ms (missed cycles : 7).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157680 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.92sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-08-20 19:04:16.774] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457826 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 + 3.57sINFOros2_control_node[2026-08-20 19:04:17.419] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-20 19:04:17.419] [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: 1787252657.43618274 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.60sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.18sWARNros2_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 + 4.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787252658.07351041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787252658.18363404 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843232 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787252658.81592393 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 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.16sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-20 19:04:19.009] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742098 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.672421 ms (missed cycles : 9).[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 2.222237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2).[0m ×2 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787252677.41942334 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2). + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787252678.04712319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787252678.12726235 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787252678.77847886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7).[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 2.222237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2).[0m ×2 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787252677.41942334 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2). + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787252678.04712319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787252678.12726235 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787252678.77847886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7).[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 2.222237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222237 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155608 ms (missed cycles : 2).[0m ×2 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-08-20 19:04:36.023] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026654 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787252677.41942334 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2). + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717063 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787252678.04712319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787252678.12726235 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777411 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787252678.77847886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-20 19:04:38.903] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820440 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.631007 ms (missed cycles : 7).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[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 6.137307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137307 ms (missed cycles : 4).[0m ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237253 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-20 19:04:46.950] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228878 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-20 19:04:49.018] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1787252689.03144264 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989209 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787252689.67378283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sWARNros2_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-20 19:04:49.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046787 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 22 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219747 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219747 ms (missed cycles : 2).[0m ×2 + 0.01sWARNros2_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 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 1 iterations (0.00348072 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOros2_control_node[2026-08-20 19:05:08.385] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-08-20 19:05:08.385] [info] Accepted new action goal ×2 + 0.90sINFOros2_control_node[2026-08-20 19:05:08.817] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-20 19:05:08.817] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919636 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919636 ms (missed cycles : 2).[0m ×2 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036721 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036721 ms (missed cycles : 3).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.00sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.04sERRORobjective_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: 1787252710.96263814 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057544 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057544 ms (missed cycles : 5).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787252711.73882413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.99sINFOros2_control_node[2026-08-20 19:05:11.913] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-08-20 19:05:11.913] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716554 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716554 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760065 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760065 ms (missed cycles : 2).[0m ×2 + 5.97sWARNros2_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 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940247 ms (missed cycles : 2).[0m ×2 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125130 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125130 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459257 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459257 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787252722.99303007 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645916 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645916 ms (missed cycles : 2).[0m ×2 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787252723.65559173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787252723.71571422 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787252724.31674075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.69sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5).[0m ×2 + 6.25sWARNros2_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 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787252723.65559173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787252723.71571422 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020876 ms (missed cycles : 6).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787252724.31674075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-20 19:05:24.440] [info] Accepted new action goal ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800278 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_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 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949574 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949574 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787252726.44687390 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218905 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218905 ms (missed cycles : 5).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787252728.04700971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422706 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422706 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406593 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406593 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_node[2026-08-20 19:05:29.614] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270707 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270707 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_node[0;93m2026-08-20 19:05:30.331198723 [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 + 6.68sINFOobjective_server_node[0;93m2026-08-20 19:05:30.331238198 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_node[2026-08-20 19:05:31.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866027220 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866056815 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-20 19:05:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-20 19:05:32.084746583 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087912297 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087931509 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.82sINFOobjective_server_node[2026-08-20 19:05:32.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-20 19:05:32.487755667 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508880976 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508907495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.52sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787252734.27165198 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787252734.96773791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_node[2026-08-20 19:05:31.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866027220 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866056815 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-20 19:05:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-20 19:05:32.084746583 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087912297 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087931509 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.82sINFOobjective_server_node[2026-08-20 19:05:32.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-20 19:05:32.487755667 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508880976 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508907495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.52sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787252734.27165198 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787252734.96773791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192963 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_node[2026-08-20 19:05:31.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866027220 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-20 19:05:31.866056815 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-20 19:05:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.75sINFOobjective_server_node[0;93m2026-08-20 19:05:32.084746583 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087912297 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-20 19:05:32.087931509 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.82sINFOobjective_server_node[2026-08-20 19:05:32.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012964 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-20 19:05:32.487755667 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508880976 [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 + 1.18sINFOobjective_server_node[0;93m2026-08-20 19:05:32.508907495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.52sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703460 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787252734.27165198 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192212 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787252734.96773791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-20 19:05:35.390] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720297 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2607 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×423 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×423 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×846 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×846 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202388 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202388 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622754 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622754 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706937 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706937 ms (missed cycles : 2).[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221312 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221312 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787252855.22662497 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787252855.85827184 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 ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOobjective_server_nodeFound path in 5 iterations (0.00643162 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436761 ms (missed cycles : 6). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436761 ms (missed cycles : 6).[0m ×2 + 4.90sINFOros2_control_node[2026-08-20 19:07:36.144] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-20 19:07:36.144] [info] Accepted new action goal ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693057 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693057 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779799 ms (missed cycles : 3).[0m ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-20 19:08:12.054] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938262 ms (missed cycles : 5).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-20 19:08:13.968] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155138 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_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 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787252895.35454440 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739692 ms (missed cycles : 6).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787252896.10553551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:16.280] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213416 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832856 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721239 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721239 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030476 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030476 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127252 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127252 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.437582 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.437582 ms (missed cycles : 6).[0m ×2 + 3.30sINFOobjective_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 + 3.30sERRORobjective_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: 1787252906.41624022 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sWARNros2_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 + 3.93sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787252907.05028415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884505 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884505 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:27.354] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-20 19:08:27.354] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407304 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407304 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 4.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sERRORobjective_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: 1787252927.91619086 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_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 + 5.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×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 1.915085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 4.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sERRORobjective_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: 1787252927.91619086 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_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 + 5.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166505 ms (missed cycles : 2).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 4.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sERRORobjective_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: 1787252927.91619086 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_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 + 5.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 1.94sINFOobjective_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 + 1.94sERRORobjective_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: 1787252927.91619086 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.15sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 + 4.90sWARNros2_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 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 1.94sINFOobjective_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 + 1.94sERRORobjective_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: 1787252927.91619086 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.15sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 + 4.90sWARNros2_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 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730456 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014530 ms (missed cycles : 7).[0m ×2 + 1.94sINFOobjective_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 + 1.94sERRORobjective_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: 1787252927.91619086 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680280 ms (missed cycles : 2).[0m ×2 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787252928.57471657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787252928.65485835 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770727 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787252929.26461458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787252929.28690147 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684786 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787252929.99912310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.15sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-20 19:08:50.123] [info] Accepted new action goal ×2 + 4.90sWARNros2_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 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699250 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054242 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477711 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477711 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170563 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170563 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Got request to cancel active goal. ×2 + 4.06sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Canceling active goal... ×2 + 4.06sERRORobjective_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: 1787252940.42459798 seconds ×3 + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787252941.03324699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5).[0m ×2 + 5.67sWARNros2_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 + 6.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787252942.39338613 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787252942.99977136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.64sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787252943.00179291 seconds ×3 | ||||
| − 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 4.477711 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477711 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170563 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170563 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742653 ms (missed cycles : 5).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795083 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Got request to cancel active goal. ×2 + 4.06sINFOros2_control_node[2026-08-20 19:09:00.419] [info] Canceling active goal... ×2 + 4.06sERRORobjective_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: 1787252940.42459798 seconds ×3 + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679209 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787252941.03324699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931291 ms (missed cycles : 5).[0m ×2 + 5.67sWARNros2_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 + 6.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787252942.39338613 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552452 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787252942.99977136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.64sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787252943.00179291 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 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 | 41 warnings · 617 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-20-19-03-53-253235-8517dbc908b9-8919 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978593 ms (missed cycles : 2). + 2.05sINFOros2_control_node-1process started with pid [8967] ×2 + 2.05sINFOmove_group-9process started with pid [9004] ×2 + 2.05sINFOparameter_manager_node-10process started with pid [9005] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [9006] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [9007] ×2 + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [9008] ×2 + 2.05sINFOobjective_server_node_main-14process started with pid [9009] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [9010] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [9011] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [9012] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [9013] ×2 + 2.05sINFOweb_bridge-19process started with pid [9014] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [9078] ×2 + 2.05sINFOvideo_server-21process started with pid [9079] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [9080] ×2 + 2.05sINFOweb_video_auth_proxy-23process started with pid [9083] ×2 + 2.06sINFOros2-2process started with pid [8968] ×2 + 2.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.07sINFOros2-3process started with pid [8969] ×2 + 2.07sINFOros2-4process started with pid [8970] ×2 + 2.07sINFOros2-5process started with pid [8971] ×2 + 2.07sINFOros2-6process started with pid [8972] ×2 + 2.08sINFOros2-7process started with pid [8973] ×2 + 2.08sINFOros2-8process started with pid [8974] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.11sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.11sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.11sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.11sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.11sWARNros2_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 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978593 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.12sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.33sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.43sINFOvideo_server2026/08/20 19:03:56 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.43sINFOvideo_server2026/08/20 19:03:56 INF configuration loaded from /tmp/moveit-webrtc-ogdxuza_/mediamtx.yml ×2 + 2.43sINFOvideo_server2026/08/20 19:03:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.43sINFOvideo_server2026/08/20 19:03:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170371 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170371 ms (missed cycles : 2).[0m ×2 + 3.27sINFOmove_group[2026-08-20 19:03:57.281] [moveit_pro_license] [info] ×2 + 3.27sINFOmove_group************************************************* ×4 + 3.27sINFOmove_group* MoveIt Pro License ×2 + 3.27sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.33sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.33sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.33sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.34sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.54sINFOwaypoint_manager_node[2026-08-20 19:03:57.545] [moveit_pro_license] [info] ×2 + 3.54sINFOwaypoint_manager_node************************************************* ×4 + 3.54sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.54sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.72sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.75sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.78sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.78sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.81sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.81sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.81sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.81sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.82sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.82sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.95sINFOmove_group ×4 + 3.95sINFOmove_group[92mYou can start planning now![0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096008 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096008 ms (missed cycles : 2).[0m ×2 + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.76sINFOobjective_server_node[2026-08-20 19:03:58.778] [moveit_pro_license] [info] ×2 + 4.76sINFOobjective_server_node************************************************* ×4 + 4.76sINFOobjective_server_node* MoveIt Pro License ×2 + 4.76sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.88sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.88sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.90sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.33sINFOcomponent_container_mt[2026-08-20 19:03:59.346] [moveit_pro_license] [info] ×2 + 5.33sINFOcomponent_container_mt************************************************* ×4 + 5.33sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.33sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.36sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.36sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.36sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.36sWARNros2_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 + 5.36sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.36sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.36sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.36sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.36sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.36sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.36sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.36sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.36sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.36sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.36sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.36sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.36sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.36sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.36sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.36sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.36sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.36sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.36sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230681 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230681 ms (missed cycles : 2).[0m ×2 + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.54sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.54sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 5.54sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 5.55sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.55sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.56sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.56sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 5.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 5.57sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.86sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.86sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.86sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.86sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 5.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 5.88sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 5.90sINFOros2-3process has finished cleanly [pid 8969] ×2 + 5.92sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.92sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.92sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.94sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.25sINFOros2-4process has finished cleanly [pid 8970] ×2 + 6.36sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 6.36sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 6.41sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.41sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.42sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2).[0m ×2 + 6.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.45sINFOros2_control_node[2026-08-20 19:04:00.461] [info] Controller state will be published at 10 Hz. ×2 + 6.45sINFOros2_control_node[2026-08-20 19:04:00.462] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.49sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.81sINFOros2-7process has finished cleanly [pid 8973] ×2 + 6.87sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 6.87sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 6.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.96sINFOros2_control_node[2026-08-20 19:04:00.980] [info] Controller state will be published at 20 Hz. ×2 + 6.97sINFOros2_control_node[2026-08-20 19:04:00.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 7.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 7.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 7.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 7.27sINFOros2-8process has finished cleanly [pid 8974] ×2 + 7.27sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 7.34sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 7.39sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.39sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.39sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.39sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.42sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.42sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 7.42sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.74sINFOros2-6process has finished cleanly [pid 8972] ×2 + 7.78sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.78sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.78sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.78sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.78sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 7.78sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 7.82sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.83sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.83sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.83sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.83sINFOforce_torque_sensor_broadcasterconfigure successful + 7.83sINFOros2_control_nodeconfigure successful[0m ×2 + 7.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.83sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.84sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.84sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 8.17sINFOros2-2process has finished cleanly [pid 8968] ×2 + 8.18sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.18sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.18sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.18sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 8.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 8.25sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.25sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 8.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 8.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.25sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 8.25sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.25sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 8.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 8.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.26sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 8.26sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.58sINFOros2-5process has finished cleanly [pid 8971] ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 9.47sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 9.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 10.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 10.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 343 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [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[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-20 19:04:01.410] [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 ×2 + 0.07sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.07sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOros2-6process has finished cleanly [pid 8972] ×2 + 0.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 0.83sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.84sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.91sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.91sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.92sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOros2-5process has finished cleanly [pid 8971] ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 2.13sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 4.65sWARNros2_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 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 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 ] + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 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 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.88sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 404 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 + 0.02sINFOros2-7process has finished cleanly [pid 8973] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-08-20 19:04:00.980] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-20 19:04:00.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.35sINFOobjective_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: [ robotiq_gripper_controller ] ×2 + 0.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_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: [ robotiq_gripper_controller ] ×2 + 0.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOros2-8process has finished cleanly [pid 8974] ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.60sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.63sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.63sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.95sINFOros2-6process has finished cleanly [pid 8972] ×2 + 0.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.04sINFOforce_torque_sensor_broadcasterconfigure successful + 1.04sINFOros2_control_nodeconfigure successful[0m ×2 + 1.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2-2process has finished cleanly [pid 8968] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.46sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.79sINFOros2-5process has finished cleanly [pid 8971] ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 5.20sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 6.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.43sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 343 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [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[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-20 19:04:01.410] [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 ×2 + 0.07sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.07sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOros2-6process has finished cleanly [pid 8972] ×2 + 0.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 0.83sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.84sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.91sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.91sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.92sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOros2-5process has finished cleanly [pid 8971] ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 2.13sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 4.65sWARNros2_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 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 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 ] + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 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 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.88sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 398 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 + 0.01sINFOros2-4process has finished cleanly [pid 8970] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.21sINFOros2_control_node[2026-08-20 19:04:00.461] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-20 19:04:00.462] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sWARNobjective_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 + 0.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2-7process has finished cleanly [pid 8973] ×2 + 0.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.73sINFOros2_control_node[2026-08-20 19:04:00.980] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-20 19:04:00.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 1.03sINFOros2-8process has finished cleanly [pid 8974] ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.18sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.51sINFOros2-6process has finished cleanly [pid 8972] ×2 + 1.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.59sINFOforce_torque_sensor_broadcasterconfigure successful + 1.59sINFOros2_control_nodeconfigure successful[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 1.93sINFOros2-2process has finished cleanly [pid 8968] ×2 + 1.94sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.94sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.94sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.94sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOros2-5process has finished cleanly [pid 8971] ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 5.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-20-19-03-53-253235-8517dbc908b9-8919 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978593 ms (missed cycles : 2). + 2.05sINFOros2_control_node-1process started with pid [8967] ×2 + 2.05sINFOmove_group-9process started with pid [9004] ×2 + 2.05sINFOparameter_manager_node-10process started with pid [9005] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [9006] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [9007] ×2 + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [9008] ×2 + 2.05sINFOobjective_server_node_main-14process started with pid [9009] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [9010] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [9011] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [9012] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [9013] ×2 + 2.05sINFOweb_bridge-19process started with pid [9014] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [9078] ×2 + 2.05sINFOvideo_server-21process started with pid [9079] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [9080] ×2 + 2.05sINFOweb_video_auth_proxy-23process started with pid [9083] ×2 + 2.06sINFOros2-2process started with pid [8968] ×2 + 2.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.07sINFOros2-3process started with pid [8969] ×2 + 2.07sINFOros2-4process started with pid [8970] ×2 + 2.07sINFOros2-5process started with pid [8971] ×2 + 2.07sINFOros2-6process started with pid [8972] ×2 + 2.08sINFOros2-7process started with pid [8973] ×2 + 2.08sINFOros2-8process started with pid [8974] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.11sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.11sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.11sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.11sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.11sWARNros2_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 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978593 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.12sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.33sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.43sINFOvideo_server2026/08/20 19:03:56 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.43sINFOvideo_server2026/08/20 19:03:56 INF configuration loaded from /tmp/moveit-webrtc-ogdxuza_/mediamtx.yml ×2 + 2.43sINFOvideo_server2026/08/20 19:03:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.43sINFOvideo_server2026/08/20 19:03:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 398 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 + 0.01sINFOros2-4process has finished cleanly [pid 8970] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.21sINFOros2_control_node[2026-08-20 19:04:00.461] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-20 19:04:00.462] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sWARNobjective_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 + 0.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2-7process has finished cleanly [pid 8973] ×2 + 0.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.73sINFOros2_control_node[2026-08-20 19:04:00.980] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-20 19:04:00.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 1.03sINFOros2-8process has finished cleanly [pid 8974] ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.18sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.51sINFOros2-6process has finished cleanly [pid 8972] ×2 + 1.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.59sINFOforce_torque_sensor_broadcasterconfigure successful + 1.59sINFOros2_control_nodeconfigure successful[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 1.93sINFOros2-2process has finished cleanly [pid 8968] ×2 + 1.94sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.94sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.94sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.94sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOros2-5process has finished cleanly [pid 8971] ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 5.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 398 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 + 0.01sINFOros2-4process has finished cleanly [pid 8970] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816754 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.21sINFOros2_control_node[2026-08-20 19:04:00.461] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-20 19:04:00.462] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sWARNobjective_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 + 0.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2-7process has finished cleanly [pid 8973] ×2 + 0.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.73sINFOros2_control_node[2026-08-20 19:04:00.980] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-20 19:04:00.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 1.03sINFOros2-8process has finished cleanly [pid 8974] ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.18sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.51sINFOros2-6process has finished cleanly [pid 8972] ×2 + 1.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.59sINFOforce_torque_sensor_broadcasterconfigure successful + 1.59sINFOros2_control_nodeconfigure successful[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 1.93sINFOros2-2process has finished cleanly [pid 8968] ×2 + 1.94sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.94sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.94sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.94sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOros2-5process has finished cleanly [pid 8971] ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 5.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 404 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 + 0.02sINFOros2-7process has finished cleanly [pid 8973] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-08-20 19:04:00.980] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-20 19:04:00.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.35sINFOobjective_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: [ robotiq_gripper_controller ] ×2 + 0.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_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: [ robotiq_gripper_controller ] ×2 + 0.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOros2-8process has finished cleanly [pid 8974] ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.60sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-08-20 19:04:01.410] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.63sINFOros2_control_node[2026-08-20 19:04:01.434] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.63sINFOros2_control_node[2026-08-20 19:04:01.434] [info] Controller state will be published at 50 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-20 19:04:01.439] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.95sINFOros2-6process has finished cleanly [pid 8972] ×2 + 0.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.04sINFOforce_torque_sensor_broadcasterconfigure successful + 1.04sINFOros2_control_nodeconfigure successful[0m ×2 + 1.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252641.89102674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252641.90120482 seconds ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794119 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2-2process has finished cleanly [pid 8968] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 1.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.46sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.79sINFOros2-5process has finished cleanly [pid 8971] ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 5.20sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 6.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.43sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 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 | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 268 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 + 7.21sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757910 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757910 ms (missed cycles : 2).[0m ×2 + 7.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8968] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t_1dlkfg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_klhujet2 --params-file /tmp/launch_params_ij3lkput [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787252642.49932814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-5process has finished cleanly [pid 8971] ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910141 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787252643.55947495 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787252644.17658949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787252644.23674107 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589109 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252644.88770270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252644.90781808 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003972 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252645.61980748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252645.77035832 seconds ×3 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863070 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252646.44257021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252646.48728871 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787252647.08916306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_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 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2946e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-20 19:04:07.235] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352725 ms (missed cycles : 2).[0m ×2 | ||||