117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.9s
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 · 18642 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (7.34e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-24 01:23:39.194] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-24 01:23:39.194] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735097 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735097 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678717 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678717 ms (missed cycles : 4).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266805 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266805 ms (missed cycles : 2).[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437818 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437818 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787534622.79901624 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787534623.40941262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.49sINFOros2_control_node[2026-08-24 01:23:43.573] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-24 01:23:43.573] [info] Accepted new action goal ×2 + 4.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053359 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053359 ms (missed cycles : 5).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029612 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029612 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875976 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875976 ms (missed cycles : 2).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717380 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717380 ms (missed cycles : 2).[0m ×2 + 8.06sINFOjoint_trajectory_controllerReceived new action goal ×3065 + 8.06sINFOjoint_trajectory_controllerAccepted new action goal ×3065 + 8.06sINFOros2_control_nodeReceived new action goal[0m ×6130 + 8.07sINFOros2_control_nodeAccepted new action goal[0m ×6130 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855888 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855888 ms (missed cycles : 2).[0m ×2 + 9.76sWARNros2_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 ×4 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168222 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168222 ms (missed cycles : 2).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785363 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785363 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922754 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922754 ms (missed cycles : 2).[0m ×2 + 12.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.84sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.85sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.184751 ms (missed cycles : 6). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.184751 ms (missed cycles : 6).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648725 ms (missed cycles : 4). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648725 ms (missed cycles : 4).[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727985 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727985 ms (missed cycles : 2).[0m ×2 + 15.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.63 s); wrist_camera (1.63 s). The render path has stopped producing new frames for them.[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843875 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843875 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942143 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942143 ms (missed cycles : 2).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205011 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205011 ms (missed cycles : 2).[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768412 ms (missed cycles : 3). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768412 ms (missed cycles : 3).[0m ×2 + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540380 ms (missed cycles : 2). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540380 ms (missed cycles : 2).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062532 ms (missed cycles : 2). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062532 ms (missed cycles : 2).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228017 ms (missed cycles : 3). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228017 ms (missed cycles : 3).[0m ×2 + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854462 ms (missed cycles : 2). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854462 ms (missed cycles : 2).[0m ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266967 ms (missed cycles : 2). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266967 ms (missed cycles : 2).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558168 ms (missed cycles : 3). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558168 ms (missed cycles : 3).[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218722 ms (missed cycles : 2). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218722 ms (missed cycles : 2).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669444 ms (missed cycles : 2). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669444 ms (missed cycles : 2).[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117045 ms (missed cycles : 2). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117045 ms (missed cycles : 2).[0m ×2 + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431381 ms (missed cycles : 2). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431381 ms (missed cycles : 2).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749090 ms (missed cycles : 3). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749090 ms (missed cycles : 3).[0m ×2 + 30.90sWARNros2_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 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724274 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724274 ms (missed cycles : 2).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898866 ms (missed cycles : 2). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898866 ms (missed cycles : 2).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952719 ms (missed cycles : 2). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952719 ms (missed cycles : 2).[0m ×2 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878569 ms (missed cycles : 2). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878569 ms (missed cycles : 2).[0m ×2 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798448 ms (missed cycles : 2). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798448 ms (missed cycles : 2).[0m ×2 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829718 ms (missed cycles : 4). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829718 ms (missed cycles : 4).[0m ×2 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057864 ms (missed cycles : 2). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057864 ms (missed cycles : 2).[0m ×2 + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798153 ms (missed cycles : 2). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798153 ms (missed cycles : 2).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923432 ms (missed cycles : 3). + 39.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923432 ms (missed cycles : 3).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705833 ms (missed cycles : 2). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705833 ms (missed cycles : 2).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880457 ms (missed cycles : 2). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880457 ms (missed cycles : 2).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447802 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447802 ms (missed cycles : 2).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709487 ms (missed cycles : 2). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709487 ms (missed cycles : 2).[0m ×2 + 44.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361462 ms (missed cycles : 3). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361462 ms (missed cycles : 3).[0m ×2 + 44.98sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993552 ms (missed cycles : 2). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993552 ms (missed cycles : 2).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673620 ms (missed cycles : 2). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673620 ms (missed cycles : 2).[0m ×2 + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072353 ms (missed cycles : 2). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072353 ms (missed cycles : 2).[0m ×2 + 48.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787534667.24547482 seconds ×3 + 48.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787534667.88897157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.86sINFOobjective_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 + 48.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.96sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 48.96sINFOros2_control_node[2026-08-24 01:24:28.042] [info] Received new action goal ×2 + 48.96sINFOros2_control_node[2026-08-24 01:24:28.042] [info] Accepted new action goal ×2 + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554414 ms (missed cycles : 5). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554414 ms (missed cycles : 5).[0m ×2 + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616521 ms (missed cycles : 4). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616521 ms (missed cycles : 4).[0m ×2 + 50.48sWARNros2_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 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.7s | 162 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_node[2026-08-24 01:22:44.221] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764556775 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764590191 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.49sINFOobjective_server_node[2026-08-24 01:22:44.931] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.55sINFOobjective_server_node[0;93m2026-08-24 01:22:44.991763734 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995113500 [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 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995141224 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.62sINFOobjective_server_node[2026-08-24 01:22:45.060] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.02sINFOobjective_server_node[0;93m2026-08-24 01:22:45.462177311 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485202723 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485235471 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787534567.38894892 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787534568.08005357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.72sINFOobjective_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 + 4.73sINFOobjective_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 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 5.06sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4).[0m ×2 + 7.26sWARNros2_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 ×8 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.811195 ms (missed cycles : 6). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.811195 ms (missed cycles : 6).[0m ×2 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 7.96sINFOros2_control_node[2026-08-24 01:22:51.396] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-08-24 01:22:51.396] [info] Accepted new action goal ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977895 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977895 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248828 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248828 ms (missed cycles : 4).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798100 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798100 ms (missed cycles : 3).[0m ×2 + 11.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 11.14sINFOros2_control_node[2026-08-24 01:22:54.575] [info] Received new action goal ×2 + 11.14sINFOros2_control_node[2026-08-24 01:22:54.575] [info] Accepted new action goal ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717109 ms (missed cycles : 4). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717109 ms (missed cycles : 4).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715112 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715112 ms (missed cycles : 2).[0m ×2 + 14.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117788 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117788 ms (missed cycles : 2).[0m ×2 + 14.12sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 14.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.17sINFOros2_control_node[2026-08-24 01:22:57.609] [info] Received new action goal ×2 + 14.17sINFOros2_control_node[2026-08-24 01:22:57.609] [info] Accepted new action goal ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.881587 ms (missed cycles : 7). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.881587 ms (missed cycles : 7).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786271 ms (missed cycles : 5). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786271 ms (missed cycles : 5).[0m ×2 + 17.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 17.14sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 17.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.14sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 17.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.14sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 17.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.14sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.457381 ms (missed cycles : 5). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.457381 ms (missed cycles : 5).[0m ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680665 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680665 ms (missed cycles : 2).[0m ×2 + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509446 ms (missed cycles : 5). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509446 ms (missed cycles : 5).[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865661 ms (missed cycles : 5). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865661 ms (missed cycles : 5).[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480326 ms (missed cycles : 3). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480326 ms (missed cycles : 3).[0m ×2 + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509310 ms (missed cycles : 2). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509310 ms (missed cycles : 2).[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300353 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300353 ms (missed cycles : 2).[0m ×2 + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695985 ms (missed cycles : 2). + 24.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695985 ms (missed cycles : 2).[0m ×2 + 24.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.68sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.68sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.68sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.68sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 25.57sINFOros2_control_node[2026-08-24 01:23:09.005] [info] Received new action goal ×2 + 25.57sINFOros2_control_node[2026-08-24 01:23:09.005] [info] Accepted new action goal ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526872 ms (missed cycles : 4). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526872 ms (missed cycles : 4).[0m ×2 + 26.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193395 ms (missed cycles : 2). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193395 ms (missed cycles : 2).[0m ×2 + 27.05sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 27.10sINFOros2_control_node[2026-08-24 01:23:10.533] [info] Received new action goal ×2 + 27.10sINFOros2_control_node[2026-08-24 01:23:10.533] [info] Accepted new action goal ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065313 ms (missed cycles : 3). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065313 ms (missed cycles : 3).[0m ×2 + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833633 ms (missed cycles : 2). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833633 ms (missed cycles : 2).[0m ×2 + 29.40sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 29.40sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 29.41sINFOros2_control_node[2026-08-24 01:23:12.848] [info] Received new action goal ×2 + 29.41sINFOros2_control_node[2026-08-24 01:23:12.848] [info] Accepted new action goal ×2 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209499 ms (missed cycles : 2). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209499 ms (missed cycles : 2).[0m ×2 + 31.23sWARNros2_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 + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686985 ms (missed cycles : 2). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686985 ms (missed cycles : 2).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789574 ms (missed cycles : 2). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789574 ms (missed cycles : 2).[0m ×2 + 32.45sINFOros2_control_node[2026-08-24 01:23:15.886] [info] Received new action goal ×2 + 32.45sINFOros2_control_node[2026-08-24 01:23:15.886] [info] Accepted new action goal ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840060 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840060 ms (missed cycles : 2).[0m ×2 + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055503 ms (missed cycles : 6). + 34.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055503 ms (missed cycles : 6).[0m ×2 + 35.05sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 35.05sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 35.09sINFOros2_control_node[2026-08-24 01:23:18.529] [info] Received new action goal ×2 + 35.09sINFOros2_control_node[2026-08-24 01:23:18.529] [info] Accepted new action goal ×2 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713988 ms (missed cycles : 2). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713988 ms (missed cycles : 2).[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760642 ms (missed cycles : 3). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760642 ms (missed cycles : 3).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033160 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033160 ms (missed cycles : 2).[0m ×2 + 38.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683298 ms (missed cycles : 3). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683298 ms (missed cycles : 3).[0m ×2 + 39.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866856 ms (missed cycles : 5). + 39.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866856 ms (missed cycles : 5).[0m ×2 + 40.62sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048926 ms (missed cycles : 2). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048926 ms (missed cycles : 2).[0m ×2 + 41.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). + 41.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437581 ms (missed cycles : 2). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437581 ms (missed cycles : 2).[0m ×2 + 43.17sWARNros2_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 + 44.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782184 ms (missed cycles : 4). + 44.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782184 ms (missed cycles : 4).[0m ×2 + 45.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913063 ms (missed cycles : 3). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913063 ms (missed cycles : 3).[0m ×2 + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697016 ms (missed cycles : 2). + 46.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697016 ms (missed cycles : 2).[0m ×2 + 46.40sINFOros2_control_node[2026-08-24 01:23:29.835] [info] Received new action goal ×2 + 46.40sINFOros2_control_node[2026-08-24 01:23:29.835] [info] Accepted new action goal ×2 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086678 ms (missed cycles : 4). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086678 ms (missed cycles : 4).[0m ×2 + 47.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787534611.01212335 seconds ×3 + 48.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832667 ms (missed cycles : 2). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832667 ms (missed cycles : 2).[0m ×2 + 48.46sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787534611.89886522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.876425 ms (missed cycles : 5). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.876425 ms (missed cycles : 5).[0m ×2 + 49.63sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 49.64sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 49.66sINFOros2_control_node[2026-08-24 01:23:33.096] [info] Received new action goal ×2 + 49.66sINFOros2_control_node[2026-08-24 01:23:33.096] [info] Accepted new action goal ×2 + 50.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872228 ms (missed cycles : 4). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872228 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 28.5s | 111 warnings · 2697 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×414 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×414 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×828 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×828 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372772 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372772 ms (missed cycles : 2).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653365 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653365 ms (missed cycles : 3).[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791246 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791246 ms (missed cycles : 2).[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000059 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000059 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787534689.37733936 seconds ×3 + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×5 + 4.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224344 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224344 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787534690.02685118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.76sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 5 iterations (0.00987898 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.97sINFOros2_control_node[2026-08-24 01:24:50.303] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-24 01:24:50.303] [info] Accepted new action goal ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993103 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993103 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689244 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689244 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919998 ms (missed cycles : 3). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919998 ms (missed cycles : 3).[0m ×2 + 9.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137777 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137777 ms (missed cycles : 3).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802058 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802058 ms (missed cycles : 2).[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232223 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232223 ms (missed cycles : 2).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378851 ms (missed cycles : 4). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378851 ms (missed cycles : 4).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430677 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430677 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739715 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739715 ms (missed cycles : 2).[0m ×2 + 14.35sWARNros2_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 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036979 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036979 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712006 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712006 ms (missed cycles : 3).[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849612 ms (missed cycles : 4). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849612 ms (missed cycles : 4).[0m ×2 + 18.09sINFOobjective_server_nodeFound path in 4 iterations (0.003389 s). ×2 + 18.17sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.21sINFOobjective_server_nodeFound path in 12 iterations (0.00569736 s). ×2 + 18.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.33sINFOobjective_server_nodeFound path in 2 iterations (0.00363955 s). ×2 + 18.38sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 18.40sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 18.44sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.46sINFOobjective_server_nodeFound path in 0 iterations (6.29e-07 s). ×2 + 18.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.52sINFOobjective_server_nodeFound path in 8 iterations (0.00411832 s). ×2 + 18.58sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 18.61sINFOobjective_server_nodeFound path in 1 iterations (0.00494014 s). ×2 + 18.66sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 18.69sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 18.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.75sINFOobjective_server_nodeFound path in 4 iterations (0.00514583 s). ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759619 ms (missed cycles : 4). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759619 ms (missed cycles : 4).[0m ×2 + 18.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.88sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 18.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 18.96sINFOobjective_server_nodeFound path in 4 iterations (0.00333878 s). ×2 + 19.05sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X_____________________X] ×2 + 19.08sINFOobjective_server_nodeFound path in 1 iterations (0.00675116 s). ×2 + 19.14sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.17sINFOobjective_server_nodeFound path in 1 iterations (0.00360312 s). ×2 + 19.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 19.28sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 19.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.35sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 19.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 19.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 19.45sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 19.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 19.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.82sINFOros2_control_node[2026-08-24 01:25:05.156] [info] Received new action goal ×2 + 19.82sINFOros2_control_node[2026-08-24 01:25:05.156] [info] Accepted new action goal ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.254453 ms (missed cycles : 6). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.254453 ms (missed cycles : 6).[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836654 ms (missed cycles : 4). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836654 ms (missed cycles : 4).[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551695 ms (missed cycles : 3). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551695 ms (missed cycles : 3).[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2).[0m ×2 + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358068 ms (missed cycles : 4). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358068 ms (missed cycles : 4).[0m ×2 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856898 ms (missed cycles : 3). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856898 ms (missed cycles : 3).[0m ×2 + 25.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 25.94sINFOros2_control_node[2026-08-24 01:25:11.269] [info] Received new action goal ×2 + 25.94sINFOros2_control_node[2026-08-24 01:25:11.269] [info] Accepted new action goal ×2 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669948 ms (missed cycles : 5). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669948 ms (missed cycles : 5).[0m ×2 + 27.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.30sINFOros2_control_node[2026-08-24 01:25:12.633] [info] Received new action goal ×2 + 27.30sINFOros2_control_node[2026-08-24 01:25:12.633] [info] Accepted new action goal ×2 + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455229 ms (missed cycles : 4). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455229 ms (missed cycles : 4).[0m ×2 + 28.33sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.37sINFOros2_control_node[2026-08-24 01:25:13.702] [info] Received new action goal ×2 + 28.37sINFOros2_control_node[2026-08-24 01:25:13.702] [info] Accepted new action goal ×2 + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719048 ms (missed cycles : 3). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719048 ms (missed cycles : 3).[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2). + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2).[0m ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189597 ms (missed cycles : 3). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189597 ms (missed cycles : 3).[0m ×2 + 31.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858946 ms (missed cycles : 4). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858946 ms (missed cycles : 4).[0m ×2 + 32.59sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787534717.92708421 seconds ×3 + 32.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579389 ms (missed cycles : 5). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579389 ms (missed cycles : 5).[0m ×2 + 33.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787534718.60571909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.50sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 33.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.52sINFOros2_control_node[2026-08-24 01:25:18.850] [info] Received new action goal ×2 + 33.52sINFOros2_control_node[2026-08-24 01:25:18.850] [info] Accepted new action goal ×2 + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166998 ms (missed cycles : 2). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166998 ms (missed cycles : 2).[0m ×2 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338602 ms (missed cycles : 2). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338602 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13714 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2259 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2259 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4518 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4518 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361462 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361462 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993552 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993552 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673620 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673620 ms (missed cycles : 2).[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072353 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072353 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787534667.24547482 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 4.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×7 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 4.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787534667.88897157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-08-24 01:24:28.042] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-24 01:24:28.042] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554414 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554414 ms (missed cycles : 5).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616521 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616521 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.14sINFOobjective_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 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sWARNros2_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 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244509 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244509 ms (missed cycles : 2).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333039 ms (missed cycles : 2). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333039 ms (missed cycles : 2).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688276 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688276 ms (missed cycles : 2).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786886 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786886 ms (missed cycles : 2).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865107 ms (missed cycles : 5). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865107 ms (missed cycles : 5).[0m ×2 + 11.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746410 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746410 ms (missed cycles : 2).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217912 ms (missed cycles : 2). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217912 ms (missed cycles : 2).[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538507 ms (missed cycles : 5). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538507 ms (missed cycles : 5).[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714628 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714628 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799407 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799407 ms (missed cycles : 2).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255465 ms (missed cycles : 4). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255465 ms (missed cycles : 4).[0m ×2 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832858 ms (missed cycles : 2). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832858 ms (missed cycles : 2).[0m ×2 + 18.69sWARNros2_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 + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701695 ms (missed cycles : 2). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701695 ms (missed cycles : 2).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720787 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720787 ms (missed cycles : 2).[0m ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870707 ms (missed cycles : 3). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870707 ms (missed cycles : 3).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372772 ms (missed cycles : 2). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372772 ms (missed cycles : 2).[0m ×2 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653365 ms (missed cycles : 3). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653365 ms (missed cycles : 3).[0m ×2 + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791246 ms (missed cycles : 2). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791246 ms (missed cycles : 2).[0m ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000059 ms (missed cycles : 3). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000059 ms (missed cycles : 3).[0m ×2 + 26.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787534689.37733936 seconds ×3 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224344 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224344 ms (missed cycles : 3).[0m ×2 + 26.82sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787534690.02685118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 27.01sINFOobjective_server_nodeFound path in 5 iterations (0.00987898 s). ×2 + 27.08sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 27.09sINFOros2_control_node[2026-08-24 01:24:50.303] [info] Received new action goal ×2 + 27.09sINFOros2_control_node[2026-08-24 01:24:50.303] [info] Accepted new action goal ×2 + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993103 ms (missed cycles : 2). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993103 ms (missed cycles : 2).[0m ×2 + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689244 ms (missed cycles : 2). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689244 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 17.1s | 3 errors · 77 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 2.67sWARNros2_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 ×6 + 3.00sINFOobjective_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 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1787534492.20429373 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937431 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937431 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055467 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055467 ms (missed cycles : 4).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494415 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494415 ms (missed cycles : 4).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838218 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838218 ms (missed cycles : 3).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.719388 ms (missed cycles : 7). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.719388 ms (missed cycles : 7).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482428 ms (missed cycles : 3). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482428 ms (missed cycles : 3).[0m ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747275 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747275 ms (missed cycles : 3).[0m ×2 + 14.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 14.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 14.52sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (6.02e-07 s). ×2 + 14.81sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 14.91sINFOobjective_server_nodeFound path in 1 iterations (0.00307655 s). ×2 + 15.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 15.09sINFOros2_control_node[2026-08-24 01:21:44.274] [info] Received new action goal ×2 + 15.09sINFOros2_control_node[2026-08-24 01:21:44.274] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584605 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584605 ms (missed cycles : 2).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674794 ms (missed cycles : 6). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674794 ms (missed cycles : 6).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.847252 ms (missed cycles : 6). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.847252 ms (missed cycles : 6).[0m ×2 + 17.56sINFOros2_control_node[2026-08-24 01:21:46.747] [info] Received new action goal ×2 + 17.56sINFOros2_control_node[2026-08-24 01:21:46.747] [info] Accepted new action goal ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3).[0m ×2 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3).[0m ×2 + 19.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 19.48sINFOros2_control_node[2026-08-24 01:21:48.662] [info] Received new action goal ×2 + 19.48sINFOros2_control_node[2026-08-24 01:21:48.663] [info] Accepted new action goal ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4).[0m ×2 + 20.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787534510.04421282 seconds ×3 + 21.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787534510.66457868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2).[0m ×2 + 21.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787534510.74474239 seconds ×3 + 21.69sWARNros2_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 + 22.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787534511.39364433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.31sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 22.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 22.33sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Received new action goal ×2 + 22.33sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Accepted new action goal ×2 + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2).[0m ×2 + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708513 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708513 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092992 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092992 ms (missed cycles : 6).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.71sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.78sINFOobjective_server_nodeFound path in 1 iterations (0.00334365 s). ×2 + 1.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.98sINFOros2_control_node[2026-08-24 01:22:21.748] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-24 01:22:21.748] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775203 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775203 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_node[2026-08-24 01:22:22.180] [info] Received new action goal ×2 + 2.41sINFOros2_control_node[2026-08-24 01:22:22.180] [info] Accepted new action goal ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912550 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912550 ms (missed cycles : 2).[0m ×2 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.82sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.82sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.82sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.85sERRORobjective_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: 1787534543.62553668 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124757 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124757 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787534544.42035365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.83sINFOros2_control_node[2026-08-24 01:22:24.604] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-24 01:22:24.604] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868624 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868624 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667358 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667358 ms (missed cycles : 5).[0m ×2 + 7.34sINFOros2_control_node[2026-08-24 01:22:27.108] [info] Received new action goal ×2 + 7.34sINFOros2_control_node[2026-08-24 01:22:27.108] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281531 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281531 ms (missed cycles : 2).[0m ×2 + 7.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612494 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612494 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484758 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484758 ms (missed cycles : 4).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498438 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498438 ms (missed cycles : 3).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775260 ms (missed cycles : 6). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775260 ms (missed cycles : 6).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653672 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653672 ms (missed cycles : 2).[0m ×2 + 13.81sWARNros2_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 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454175 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454175 ms (missed cycles : 2).[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135834 ms (missed cycles : 6). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135834 ms (missed cycles : 6).[0m ×2 + 15.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787534555.68069339 seconds ×3 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354505 ms (missed cycles : 4). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354505 ms (missed cycles : 4).[0m ×2 + 16.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787534556.34487510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787534556.40505290 seconds ×3 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3).[0m ×2 + 17.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787534557.00826049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.35sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 17.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.36sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Received new action goal ×2 + 17.36sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Accepted new action goal ×2 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 56 errors · 42 warnings · 284 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622367 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622367 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047747 ms (missed cycles : 6). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047747 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349659 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349659 ms (missed cycles : 6).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787534780.85676122 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.86sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787534781.45667410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.86sINFOobjective_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 + 2.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787534781.45869732 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714022 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714022 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787534782.18206143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787534782.18259811 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787534782.79101682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221747 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221747 ms (missed cycles : 5).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219154 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219154 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787534783.93116975 seconds ×3 + 5.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390892 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390892 ms (missed cycles : 5).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144548 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144548 ms (missed cycles : 5).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631903 ms (missed cycles : 6). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631903 ms (missed cycles : 6).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884130 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884130 ms (missed cycles : 4).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240251 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240251 ms (missed cycles : 3).[0m ×2 + 11.32sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.36sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORweb_video_auth_proxy-23process has died [pid 9064, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.37sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.38sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORweb_bridge_auth_proxy-22process has died [pid 9061, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.38sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.40sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.41sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.42sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.43sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.44sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.46sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.47sINFOvideo_server-21process has finished cleanly [pid 9060] ×2 + 11.48sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.49sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.50sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.51sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.53sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.53sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.54sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.56sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.56sINFOcontroller_managerShutdown request received.... + 11.56sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.56sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.56sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.56sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.56sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.56sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.56sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.56sINFOvideo_server2026/08/24 01:26:29 INF shutting down gracefully ×2 + 11.56sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.56sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.56sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.56sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.56sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.56sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.56sINFOcontroller_managerShutting down the controller manager. + 11.56sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.56sINFOvideo_server2026/08/24 01:26:30 INF [WebRTC] closing ×2 + 11.56sINFOvideo_server2026/08/24 01:26:30 INF [RTSP] closing ×2 + 11.56sINFOvideo_server2026/08/24 01:26:30 INF waiting for running hooks ×2 + 11.56sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.57sERRORmove_group-9process has died [pid 8985, 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_h5fx0_ya --params-file /tmp/launch_params_s73ahzcf --params-file /tmp/launch_params_fio6n2qc --params-file /tmp/launch_params_kva4qmm0 --params-file /tmp/launch_params_ebzp5hmr --params-file /tmp/launch_params_c2xvetfc']. ×2 + 11.57sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.57sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.57sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.57sERRORmove_groupStack trace (most recent call last) in thread 9289: ×2 + 11.57sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.57sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb4ccafda63, in __clone ×2 + 11.57sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb4cca70aa3, in ×2 + 11.57sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb4ccd02db3, in ×2 + 11.57sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fb4cd473a67, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.57sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb4cd094620, in rclcpp::Rate::sleep() ×2 + 11.57sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb4ccfd6d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.57sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb4ccf98087, in ×2 + 11.57sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb4cccd1390, in __cxa_throw ×2 + 11.57sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb4cccbba54, in std::terminate() ×2 + 11.57sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb4cccd10d9, in ×2 + 11.57sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb4cccbbff4, in ×2 + 11.57sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb4cc9fc8fe, in abort ×2 + 11.57sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb4cca1927d, in raise ×2 + 11.57sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb4cca72b2c, in pthread_kill ×2 + 11.57sERRORmove_groupAborted (Signal sent by tkill() 8985 0) ×2 + 11.57sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.57sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.57sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.57sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.57sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.57sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.57sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.57sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.57sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.57sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.57sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.57sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.57sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.57sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.57sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.57sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.57sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.57sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.57sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.57sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.77sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.77sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.77sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.45sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9059] ×2 + 12.45sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.54sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8989] ×2 + 12.54sINFOui_teleop_bridge-18process has finished cleanly [pid 8994] ×2 + 12.55sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8988] ×2 + 12.55sINFOcomponent_container_mt-16process has finished cleanly [pid 8992] ×2 + 12.56sINFOexecute_objective_bridge-17process has finished cleanly [pid 8993] ×2 + 12.59sINFOwaypoint_manager_node-11process has finished cleanly [pid 8987] ×2 + 12.60sINFOparameter_manager_node-10process has finished cleanly [pid 8986] ×2 + 12.61sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.73sINFOobjective_server_node[0;m[2026-08-24 01:26:31.324] [moveit_pro_license] [info] ×2 + 12.73sINFOobjective_server_node************************************************* ×4 + 12.73sINFOobjective_server_node* MoveIt Pro License ×2 + 12.73sINFOobjective_server_node* Application has successfully terminated ×2 + 13.22sINFOobjective_server_node_main-14process has finished cleanly [pid 8990] ×2 + 13.22sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.68sINFOcomponent_container_mt-15process has finished cleanly [pid 8991] ×2 + 13.92sINFOweb_bridge-19process has finished cleanly [pid 8995] ×2 + 13.92sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.20sINFOros2_control_node-1process has finished cleanly [pid 8948] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782184 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782184 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913063 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913063 ms (missed cycles : 3).[0m ×2 + 1.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.31sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.31sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.31sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.31sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697016 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697016 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.20sINFOros2_control_node[2026-08-24 01:23:29.835] [info] Received new action goal ×2 + 2.20sINFOros2_control_node[2026-08-24 01:23:29.835] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086678 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086678 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787534611.01212335 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832667 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832667 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787534611.89886522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.876425 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.876425 ms (missed cycles : 5).[0m ×2 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.46sINFOros2_control_node[2026-08-24 01:23:33.096] [info] Received new action goal ×2 + 5.46sINFOros2_control_node[2026-08-24 01:23:33.096] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872228 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872228 ms (missed cycles : 4).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774631 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774631 ms (missed cycles : 3).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299196 ms (missed cycles : 4). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299196 ms (missed cycles : 4).[0m ×2 + 9.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.15sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.15sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.15sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.16sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417392 ms (missed cycles : 5). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417392 ms (missed cycles : 5).[0m ×2 + 10.10sWARNros2_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 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147542 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147542 ms (missed cycles : 4).[0m ×2 + 11.54sINFOobjective_server_nodeFound path in 0 iterations (7.34e-07 s). ×2 + 11.55sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.56sINFOros2_control_node[2026-08-24 01:23:39.194] [info] Received new action goal ×2 + 11.56sINFOros2_control_node[2026-08-24 01:23:39.194] [info] Accepted new action goal ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735097 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735097 ms (missed cycles : 3).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678717 ms (missed cycles : 4). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678717 ms (missed cycles : 4).[0m ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266805 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266805 ms (missed cycles : 2).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437818 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437818 ms (missed cycles : 3).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787534622.79901624 seconds ×3 + 15.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787534623.40941262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.92sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 15.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.94sINFOros2_control_node[2026-08-24 01:23:43.573] [info] Received new action goal ×2 + 15.94sINFOros2_control_node[2026-08-24 01:23:43.573] [info] Accepted new action goal ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053359 ms (missed cycles : 5). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053359 ms (missed cycles : 5).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029612 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029612 ms (missed cycles : 2).[0m ×2 + 17.21sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.22sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879304 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879304 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117737 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117737 ms (missed cycles : 5).[0m ×2 + 1.68sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.96sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.96sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.97sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787534530.61689472 seconds ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251933 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251933 ms (missed cycles : 2).[0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193773 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193773 ms (missed cycles : 3).[0m ×2 + 3.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.57sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787534533.21186876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.78sINFOros2_control_node[2026-08-24 01:22:13.426] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-24 01:22:13.426] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325381 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325381 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876856 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876856 ms (missed cycles : 3).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476315 ms (missed cycles : 5). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476315 ms (missed cycles : 5).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562136 ms (missed cycles : 3). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562136 ms (missed cycles : 3).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582754 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582754 ms (missed cycles : 2).[0m ×2 + 9.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.16sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.43sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 9.44sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 9.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.58sINFOobjective_server_nodeFound path in 1 iterations (0.00269932 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.72sINFOobjective_server_nodeFound path in 1 iterations (0.00467371 s). ×2 + 9.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 9.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.98sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 10.08sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081548 ms (missed cycles : 2). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081548 ms (missed cycles : 2).[0m ×2 + 10.21sINFOros2_control_node[2026-08-24 01:22:18.859] [info] Received new action goal ×2 + 10.21sINFOros2_control_node[2026-08-24 01:22:18.859] [info] Accepted new action goal ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708513 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708513 ms (missed cycles : 3).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092992 ms (missed cycles : 6). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092992 ms (missed cycles : 6).[0m ×2 + 12.20sWARNros2_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 + 12.82sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 12.82sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.82sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 12.82sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.83sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 12.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.91sINFOobjective_server_nodeFound path in 1 iterations (0.00334365 s). ×2 + 13.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 13.10sINFOros2_control_node[2026-08-24 01:22:21.748] [info] Received new action goal ×2 + 13.10sINFOros2_control_node[2026-08-24 01:22:21.748] [info] Accepted new action goal ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775203 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775203 ms (missed cycles : 2).[0m ×2 + 13.54sINFOros2_control_node[2026-08-24 01:22:22.180] [info] Received new action goal ×2 + 13.54sINFOros2_control_node[2026-08-24 01:22:22.180] [info] Accepted new action goal ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912550 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912550 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_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 + 14.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.98sERRORobjective_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: 1787534543.62553668 seconds ×3 + 15.41sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124757 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124757 ms (missed cycles : 2).[0m ×2 + 15.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787534544.42035365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.95sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 15.96sINFOros2_control_node[2026-08-24 01:22:24.604] [info] Received new action goal ×2 + 15.96sINFOros2_control_node[2026-08-24 01:22:24.604] [info] Accepted new action goal ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868624 ms (missed cycles : 4). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868624 ms (missed cycles : 4).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667358 ms (missed cycles : 5). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667358 ms (missed cycles : 5).[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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462252 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462252 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665879 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665879 ms (missed cycles : 2).[0m ×2 + 8.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (6.68e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040190 ms (missed cycles : 7). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040190 ms (missed cycles : 7).[0m ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (5.64e-07 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.86sINFOobjective_server_nodeFound path in 1 iterations (0.0041818 s). ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.04sINFOobjective_server_nodeFound path in 1 iterations (0.00431579 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 9.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.29sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.52sINFOros2_control_node[2026-08-24 01:22:07.888] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-08-24 01:22:07.889] [info] Accepted new action goal ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660298 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660298 ms (missed cycles : 3).[0m ×2 + 10.28sWARNros2_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 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879304 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879304 ms (missed cycles : 2).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117737 ms (missed cycles : 5). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117737 ms (missed cycles : 5).[0m ×2 + 11.96sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.24sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787534530.61689472 seconds ×3 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251933 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251933 ms (missed cycles : 2).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193773 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193773 ms (missed cycles : 3).[0m ×2 + 14.84sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787534533.21186876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 15.06sINFOros2_control_node[2026-08-24 01:22:13.426] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-08-24 01:22:13.426] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325381 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325381 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876856 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876856 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082964 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082964 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590096 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590096 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618016 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618016 ms (missed cycles : 5).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637540 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787534750.17386985 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859515 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859515 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787534750.77840614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-24 01:25:50.904] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-24 01:25:50.904] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737404 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737404 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807179 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807179 ms (missed cycles : 3).[0m ×2 + 6.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517445 ms (missed cycles : 5). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517445 ms (missed cycles : 5).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120406 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120406 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099044 ms (missed cycles : 5). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099044 ms (missed cycles : 5).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759261 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759261 ms (missed cycles : 4).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6).[0m ×2 + 12.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 14.89sINFOobjective_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 + 14.89sERRORobjective_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: 1787534761.08874655 seconds ×3 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 15.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 16.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.23sINFOobjective_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 + 16.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 16.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.99sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 17.00sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 17.01sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 17.01sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[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 8.118019 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 0.81sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 0.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.58sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497040 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497040 ms (missed cycles : 3).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 7.11sINFOros2_control_node[2026-08-24 01:21:24.593] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-08-24 01:21:24.593] [info] Accepted new action goal ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028075 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028075 ms (missed cycles : 2).[0m ×2 + 8.26sWARNros2_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 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.223770 ms (missed cycles : 5). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.223770 ms (missed cycles : 5).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067213 ms (missed cycles : 6). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067213 ms (missed cycles : 6).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.392138 ms (missed cycles : 7). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.392138 ms (missed cycles : 7).[0m ×2 + 10.78sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.80sINFOros2_control_node[2026-08-24 01:21:28.283] [info] Received new action goal ×2 + 10.80sINFOros2_control_node[2026-08-24 01:21:28.283] [info] Accepted new action goal ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 14.11sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 14.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.13sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 14.13sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 14.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.70sINFOobjective_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 + 14.70sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 14.70sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 14.72sERRORobjective_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: 1787534492.20429373 seconds ×3 + 14.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 16.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.30sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 16.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.32sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 16.32sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.8s | 6 errors · 57 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708619 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708619 ms (missed cycles : 3).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.859133 ms (missed cycles : 6). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.859133 ms (missed cycles : 6).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097985 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097985 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239524 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239524 ms (missed cycles : 3).[0m ×2 + 10.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622827 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622827 ms (missed cycles : 2).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578653 ms (missed cycles : 5). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578653 ms (missed cycles : 5).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695465 ms (missed cycles : 5). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695465 ms (missed cycles : 5).[0m ×2 + 14.81sERRORobjective_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: 1787534739.59449601 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953240 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953240 ms (missed cycles : 2).[0m ×2 + 15.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787534740.22412252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 15.76sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.78sINFOros2_control_node[2026-08-24 01:25:40.564] [info] Received new action goal ×2 + 15.78sINFOros2_control_node[2026-08-24 01:25:40.564] [info] Accepted new action goal ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962305 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962305 ms (missed cycles : 3).[0m ×2 + 16.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152921 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152921 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.662] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.663] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787534510.04421282 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787534510.66457868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787534510.74474239 seconds ×3 + 3.37sWARNros2_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 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787534511.39364433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210238 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210238 ms (missed cycles : 6).[0m ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 7.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.42sINFOros2_control_node[2026-08-24 01:21:54.917] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-08-24 01:21:54.917] [info] Accepted new action goal ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307499 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307499 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540436 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540436 ms (missed cycles : 3).[0m ×2 + 9.75sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 9.75sINFOros2_control_node[2026-08-24 01:21:57.256] [info] Received new action goal ×2 + 9.75sINFOros2_control_node[2026-08-24 01:21:57.256] [info] Accepted new action goal ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876298 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876298 ms (missed cycles : 2).[0m ×2 + 10.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 12.10sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 12.11sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 12.11sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 14.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.09sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 14.09sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 14.10sERRORobjective_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: 1787534521.60641217 seconds ×3 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 14.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 14.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.94sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 54 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189597 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189597 ms (missed cycles : 3).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858946 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858946 ms (missed cycles : 4).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787534717.92708421 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579389 ms (missed cycles : 5). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579389 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787534718.60571909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-24 01:25:18.850] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-24 01:25:18.850] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166998 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166998 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338602 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338602 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348108 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348108 ms (missed cycles : 3).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557225 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557225 ms (missed cycles : 3).[0m ×2 + 7.82sWARNros2_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 + 7.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.88sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 1 iterations (0.00322877 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.40sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.42sINFOros2_control_node[2026-08-24 01:25:23.343] [info] Received new action goal ×2 + 8.42sINFOros2_control_node[2026-08-24 01:25:23.343] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760910 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760910 ms (missed cycles : 2).[0m ×2 + 9.13sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 10.89sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 10.89sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 12.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.82sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 12.82sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 13.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.77sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 13.77sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 13.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 14.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 14.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.66sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 14.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 16.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 54 warnings · 178 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.34sERRORobjective_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: 1787534761.08874655 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.46sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2).[0m ×2 + 6.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107339 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107339 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.77sINFOros2_control_node[2026-08-24 01:26:06.518] [info] Received new action goal ×2 + 7.77sINFOros2_control_node[2026-08-24 01:26:06.518] [info] Accepted new action goal ×2 + 7.77sINFOros2_control_node[2026-08-24 01:26:06.518] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803520 ms (missed cycles : 4). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803520 ms (missed cycles : 4).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359665 ms (missed cycles : 6). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359665 ms (missed cycles : 6).[0m ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113978 ms (missed cycles : 3). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113978 ms (missed cycles : 3).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.953512 ms (missed cycles : 7). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.953512 ms (missed cycles : 7).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860239 ms (missed cycles : 3). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860239 ms (missed cycles : 3).[0m ×2 + 13.01sWARNros2_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 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832498 ms (missed cycles : 4). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832498 ms (missed cycles : 4).[0m ×2 + 14.34sINFOros2_control_node[2026-08-24 01:26:13.093] [info] Got request to cancel active goal. ×2 + 14.34sINFOros2_control_node[2026-08-24 01:26:13.093] [info] Canceling active goal... ×2 + 14.35sERRORobjective_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: 1787534773.09892225 seconds ×3 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429630 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429630 ms (missed cycles : 2).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787534773.70662785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592990 ms (missed cycles : 4). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592990 ms (missed cycles : 4).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857137 ms (missed cycles : 5). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857137 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 56 warnings · 91 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622827 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622827 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578653 ms (missed cycles : 5). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578653 ms (missed cycles : 5).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695465 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695465 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sERRORobjective_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: 1787534739.59449601 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953240 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953240 ms (missed cycles : 2).[0m ×2 + 3.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787534740.22412252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.89sINFOros2_control_node[2026-08-24 01:25:40.564] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-24 01:25:40.564] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962305 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962305 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152921 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152921 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.541424 ms (missed cycles : 9). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.541424 ms (missed cycles : 9).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.626977 ms (missed cycles : 6). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.626977 ms (missed cycles : 6).[0m ×2 + 8.92sINFOros2_control_node[2026-08-24 01:25:44.592] [info] Received new action goal ×2 + 8.92sINFOros2_control_node[2026-08-24 01:25:44.592] [info] Accepted new action goal ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700383 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700383 ms (missed cycles : 4).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082964 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082964 ms (missed cycles : 3).[0m ×2 + 10.93sWARNros2_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 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590096 ms (missed cycles : 4). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590096 ms (missed cycles : 4).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618016 ms (missed cycles : 5). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618016 ms (missed cycles : 5).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637540 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637540 ms (missed cycles : 4).[0m ×2 + 14.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787534750.17386985 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859515 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859515 ms (missed cycles : 2).[0m ×2 + 15.11sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787534750.77840614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.22sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 15.22sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.23sINFOros2_control_node[2026-08-24 01:25:50.904] [info] Received new action goal ×2 + 15.23sINFOros2_control_node[2026-08-24 01:25:50.904] [info] Accepted new action goal ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737404 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737404 ms (missed cycles : 2).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807179 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807179 ms (missed cycles : 3).[0m ×2 + 17.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.14sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 7.8s | 3 errors · 46 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.953512 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.953512 ms (missed cycles : 7).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860239 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860239 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832498 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832498 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-08-24 01:26:13.093] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-24 01:26:13.093] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787534773.09892225 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429630 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429630 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787534773.70662785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592990 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592990 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857137 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857137 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312794 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312794 ms (missed cycles : 2).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608760 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608760 ms (missed cycles : 2).[0m ×2 + 8.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622367 ms (missed cycles : 5). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622367 ms (missed cycles : 5).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047747 ms (missed cycles : 6). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047747 ms (missed cycles : 6).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349659 ms (missed cycles : 6). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349659 ms (missed cycles : 6).[0m ×2 + 10.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787534780.85676122 seconds ×3 + 11.56sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787534781.45667410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.56sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 11.56sINFOobjective_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 + 11.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 11.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787534781.45869732 seconds ×3 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714022 ms (missed cycles : 3). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714022 ms (missed cycles : 3).[0m ×2 + 12.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787534782.18206143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787534782.18259811 seconds ×3 + 12.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787534782.79101682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221747 ms (missed cycles : 5). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221747 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.2s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787534556.34487510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787534556.40505290 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787534557.00826049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Accepted new action goal ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778773 ms (missed cycles : 6). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778773 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787534559.13839817 seconds ×3 + 3.31sWARNros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338487 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338487 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787534560.74617910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874641 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874641 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_node[2026-08-24 01:22:42.350] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750554 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750554 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_node[0;93m2026-08-24 01:22:43.162797412 [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 + 6.82sINFOobjective_server_node[0;93m2026-08-24 01:22:43.162831725 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4).[0m ×2 + 7.88sINFOobjective_server_node[2026-08-24 01:22:44.221] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5).[0m ×2 + 8.42sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764556775 [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 + 8.42sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764590191 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 8.59sINFOobjective_server_node[2026-08-24 01:22:44.931] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.65sINFOobjective_server_node[0;93m2026-08-24 01:22:44.991763734 [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 + 8.65sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995113500 [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 + 8.65sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995141224 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.72sINFOobjective_server_node[2026-08-24 01:22:45.060] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.12sINFOobjective_server_node[0;93m2026-08-24 01:22:45.462177311 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.14sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485202723 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.14sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485235471 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2).[0m ×2 + 11.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787534567.38894892 seconds ×3 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5).[0m ×2 + 11.74sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787534568.08005357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.82sINFOobjective_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 + 11.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 12.11sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 12.11sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.16sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Received new action goal ×2 + 12.16sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Accepted new action goal ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653672 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653672 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454175 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454175 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135834 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135834 ms (missed cycles : 6).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787534555.68069339 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354505 ms (missed cycles : 4). + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354505 ms (missed cycles : 4).[0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787534556.34487510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787534556.40505290 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787534557.00826049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.45sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778773 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778773 ms (missed cycles : 6).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787534559.13839817 seconds ×3 + 6.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338487 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338487 ms (missed cycles : 2).[0m ×2 + 8.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787534560.74617910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874641 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874641 ms (missed cycles : 4).[0m ×2 + 9.67sINFOobjective_server_node[2026-08-24 01:22:42.350] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750554 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750554 ms (missed cycles : 3).[0m ×2 + 10.48sINFOobjective_server_node[0;93m2026-08-24 01:22:43.162797412 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.48sINFOobjective_server_node[0;93m2026-08-24 01:22:43.162831725 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 565 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.17sINFOobjective_server_node[2026-08-24 01:21:13.401] [moveit_pro_license] [info] ×2 + 0.17sINFOobjective_server_node************************************************* ×4 + 0.17sINFOobjective_server_node* MoveIt Pro License ×2 + 0.17sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.34sINFOobjective_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 + 0.34sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.35sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.36sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.43sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.43sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.75sWARNobjective_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 + 0.80sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.80sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.80sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.80sWARNros2_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 + 0.80sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.80sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.80sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.80sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.80sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.80sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.80sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.80sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.80sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.80sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.80sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.80sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.80sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.80sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.80sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.80sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.80sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.80sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.10sINFOcomponent_container_mt[2026-08-24 01:21:14.332] [moveit_pro_license] [info] ×2 + 1.10sINFOcomponent_container_mt************************************************* ×4 + 1.10sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.10sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751959 ms (missed cycles : 2). + 1.13sINFOros2_control_node[2026-08-24 01:21:14.363] [info] Controller state will be published at 20 Hz. ×2 + 1.14sINFOros2_control_node[2026-08-24 01:21:14.364] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751959 ms (missed cycles : 2).[0m ×2 + 1.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.35sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 1.35sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.35sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.45sINFOros2-8process has finished cleanly [pid 8955] ×2 + 1.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.85sINFOros2-4process has finished cleanly [pid 8951] ×2 + 1.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.98sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.98sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.99sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.02sINFOros2_control_node[2026-08-24 01:21:15.246] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.02sINFOros2_control_node[2026-08-24 01:21:15.246] [info] Controller state will be published at 50 Hz. ×2 + 2.02sINFOros2_control_node[2026-08-24 01:21:15.253] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 2.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 2.34sINFOros2-6process has finished cleanly [pid 8953] ×2 + 2.38sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.39sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.39sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.39sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.39sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.39sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.39sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.40sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.40sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×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: [ joint_trajectory_controller ] + 2.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 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 + 2.69sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.69sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.69sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.69sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.74sINFOros2-5process has finished cleanly [pid 8952] ×2 + 2.78sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 2.78sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.83sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.83sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.85sINFOros2_control_node[2026-08-24 01:21:16.084] [info] Controller state will be published at 10 Hz. ×2 + 2.86sINFOros2_control_node[2026-08-24 01:21:16.085] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.19sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.19sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.19sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.19sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.19sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 3.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 3.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.21sINFOros2-7process has finished cleanly [pid 8954] ×2 + 3.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 3.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 3.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 3.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.61sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.62sINFOforce_torque_sensor_broadcasterconfigure successful + 3.62sINFOros2_control_nodeconfigure successful[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.62sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.62sINFOros2-3process has finished cleanly [pid 8950] ×2 + 3.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.95sINFOros2-2process has finished cleanly [pid 8949] ×2 + 4.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 5.07sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 6.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 7.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 8.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.06sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 8.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 2.67sWARNros2_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 + 3.00sINFOobjective_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 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1787534492.20429373 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 31 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608760 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608760 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622367 ms (missed cycles : 5). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622367 ms (missed cycles : 5).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047747 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047747 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349659 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349659 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787534780.85676122 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787534781.45667410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.93sINFOobjective_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 + 3.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787534781.45869732 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714022 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714022 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787534782.18206143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787534782.18259811 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787534782.79101682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221747 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221747 ms (missed cycles : 5).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219154 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219154 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787534783.93116975 seconds ×3 + 6.45sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.39sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390892 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390892 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653672 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653672 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454175 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454175 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135834 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135834 ms (missed cycles : 6).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787534555.68069339 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354505 ms (missed cycles : 4). + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354505 ms (missed cycles : 4).[0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787534556.34487510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787534556.40505290 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787534557.00826049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.45sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778773 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778773 ms (missed cycles : 6).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787534559.13839817 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.847252 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.847252 ms (missed cycles : 6).[0m ×2 + 0.27sINFOros2_control_node[2026-08-24 01:21:46.747] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-08-24 01:21:46.747] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.19sINFOros2_control_node[2026-08-24 01:21:48.662] [info] Received new action goal ×2 + 2.19sINFOros2_control_node[2026-08-24 01:21:48.663] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787534510.04421282 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787534510.66457868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787534510.74474239 seconds ×3 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787534511.39364433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.04sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 433 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8951] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.14sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-08-24 01:21:15.246] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-08-24 01:21:15.246] [info] Controller state will be published at 50 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-24 01:21:15.253] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 8953] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8952] ×2 + 0.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.01sINFOros2_control_node[2026-08-24 01:21:16.084] [info] Controller state will be published at 10 Hz. ×2 + 1.01sINFOros2_control_node[2026-08-24 01:21:16.085] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.37sINFOros2-7process has finished cleanly [pid 8954] ×2 + 1.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 1.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.71sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.71sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.76sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.77sINFOforce_torque_sensor_broadcasterconfigure successful + 1.77sINFOros2_control_nodeconfigure successful[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 8950] ×2 + 1.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOros2-2process has finished cleanly [pid 8949] ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 3.22sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 6.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 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_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.87sINFOros2_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 (3.7199e-05 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.99sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_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 + 3.04sERRORobjective_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: 1787534761.08874655 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_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 + 3.04sERRORobjective_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: 1787534761.08874655 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 26 warnings · 102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608760 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608760 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622367 ms (missed cycles : 5). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622367 ms (missed cycles : 5).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047747 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047747 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349659 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.349659 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787534780.85676122 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787534781.45667410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.93sINFOobjective_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 + 3.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787534781.45869732 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714022 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714022 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787534782.18206143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787534782.18259811 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787534782.79101682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221747 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221747 ms (missed cycles : 5).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219154 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219154 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787534783.93116975 seconds ×3 + 6.45sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_node[2026-08-24 01:22:44.221] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764556775 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764590191 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.49sINFOobjective_server_node[2026-08-24 01:22:44.931] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.55sINFOobjective_server_node[0;93m2026-08-24 01:22:44.991763734 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995113500 [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 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995141224 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.62sINFOobjective_server_node[2026-08-24 01:22:45.060] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.02sINFOobjective_server_node[0;93m2026-08-24 01:22:45.462177311 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485202723 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485235471 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787534567.38894892 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787534568.08005357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.73sINFOobjective_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 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.662] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.663] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787534510.04421282 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787534510.66457868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787534510.74474239 seconds ×3 + 3.37sWARNros2_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 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787534511.39364433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2).[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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708513 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708513 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092992 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092992 ms (missed cycles : 6).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.71sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.78sINFOobjective_server_nodeFound path in 1 iterations (0.00334365 s). ×2 + 1.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.98sINFOros2_control_node[2026-08-24 01:22:21.748] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-24 01:22:21.748] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775203 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775203 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_node[2026-08-24 01:22:22.180] [info] Received new action goal ×2 + 2.41sINFOros2_control_node[2026-08-24 01:22:22.180] [info] Accepted new action goal ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912550 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912550 ms (missed cycles : 2).[0m ×2 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.82sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.82sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.82sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.85sERRORobjective_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: 1787534543.62553668 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124757 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124757 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787534544.42035365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.83sINFOros2_control_node[2026-08-24 01:22:24.604] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-24 01:22:24.604] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868624 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868624 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667358 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667358 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_node[2026-08-24 01:22:44.221] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764556775 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764590191 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.49sINFOobjective_server_node[2026-08-24 01:22:44.931] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.55sINFOobjective_server_node[0;93m2026-08-24 01:22:44.991763734 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995113500 [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 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995141224 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.62sINFOobjective_server_node[2026-08-24 01:22:45.060] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.02sINFOobjective_server_node[0;93m2026-08-24 01:22:45.462177311 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485202723 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485235471 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787534567.38894892 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787534568.08005357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.73sINFOobjective_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 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_node[2026-08-24 01:22:44.221] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764556775 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764590191 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.49sINFOobjective_server_node[2026-08-24 01:22:44.931] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.55sINFOobjective_server_node[0;93m2026-08-24 01:22:44.991763734 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995113500 [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 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995141224 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.62sINFOobjective_server_node[2026-08-24 01:22:45.060] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.02sINFOobjective_server_node[0;93m2026-08-24 01:22:45.462177311 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485202723 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485235471 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787534567.38894892 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787534568.08005357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.73sINFOobjective_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 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (7.34e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-24 01:23:39.194] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-24 01:23:39.194] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735097 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735097 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678717 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678717 ms (missed cycles : 4).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266805 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266805 ms (missed cycles : 2).[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437818 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437818 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787534622.79901624 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787534623.40941262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.49sINFOros2_control_node[2026-08-24 01:23:43.573] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-24 01:23:43.573] [info] Accepted new action goal ×2 + 4.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053359 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053359 ms (missed cycles : 5).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029612 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029612 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2553 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×414 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×414 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×828 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×828 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372772 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372772 ms (missed cycles : 2).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653365 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653365 ms (missed cycles : 3).[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791246 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791246 ms (missed cycles : 2).[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000059 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000059 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787534689.37733936 seconds ×3 + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224344 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224344 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787534690.02685118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.76sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 5 iterations (0.00987898 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.97sINFOros2_control_node[2026-08-24 01:24:50.303] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-24 01:24:50.303] [info] Accepted new action goal ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993103 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993103 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689244 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689244 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 2.361219 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189597 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189597 ms (missed cycles : 3).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858946 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858946 ms (missed cycles : 4).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787534717.92708421 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579389 ms (missed cycles : 5). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579389 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787534718.60571909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-24 01:25:18.850] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-24 01:25:18.850] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166998 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166998 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338602 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338602 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 22 warnings · 42 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622827 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622827 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578653 ms (missed cycles : 5). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578653 ms (missed cycles : 5).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695465 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695465 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sERRORobjective_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: 1787534739.59449601 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953240 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953240 ms (missed cycles : 2).[0m ×2 + 3.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787534740.22412252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.89sINFOros2_control_node[2026-08-24 01:25:40.564] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-24 01:25:40.564] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962305 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962305 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152921 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152921 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_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 + 3.04sERRORobjective_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: 1787534761.08874655 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_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 + 3.04sERRORobjective_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: 1787534761.08874655 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_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 + 3.04sERRORobjective_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: 1787534761.08874655 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 2.67sWARNros2_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 + 3.00sINFOobjective_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 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1787534492.20429373 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 2.67sWARNros2_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 + 3.00sINFOobjective_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 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1787534492.20429373 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 2.67sWARNros2_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 + 3.00sINFOobjective_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 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1787534492.20429373 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 2.67sWARNros2_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 + 3.00sINFOobjective_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 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1787534492.20429373 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 2.67sWARNros2_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 + 3.00sINFOobjective_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 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1787534492.20429373 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777889 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170038 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922356 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-08-24 01:21:31.613] [info] Accepted new action goal ×2 + 2.67sWARNros2_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 + 3.00sINFOobjective_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 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-24 01:21:32.189] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1787534492.20429373 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094521 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787534492.85002041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787534492.97410083 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493027 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787534493.60341954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-24 01:21:33.800] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122366 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.662] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.663] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787534510.04421282 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787534510.66457868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787534510.74474239 seconds ×3 + 3.37sWARNros2_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 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787534511.39364433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.662] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.663] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787534510.04421282 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787534510.66457868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787534510.74474239 seconds ×3 + 3.37sWARNros2_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 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787534511.39364433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.662] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.663] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787534510.04421282 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787534510.66457868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787534510.74474239 seconds ×3 + 3.37sWARNros2_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 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787534511.39364433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958182 ms (missed cycles : 3).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735335 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.662] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-24 01:21:48.663] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734760 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787534510.04421282 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787534510.66457868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760235 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787534510.74474239 seconds ×3 + 3.37sWARNros2_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 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787534511.39364433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-24 01:21:51.518] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358443 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078810 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 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 5.069125 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069125 ms (missed cycles : 4).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883860 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-24 01:21:59.615] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040527 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-08-24 01:22:01.593] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1787534521.60641217 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.504015 ms (missed cycles : 8).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787534522.25163555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-24 01:22:02.445] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903589 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653672 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653672 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454175 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454175 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135834 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135834 ms (missed cycles : 6).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787534555.68069339 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354505 ms (missed cycles : 4). + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354505 ms (missed cycles : 4).[0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787534556.34487510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787534556.40505290 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787534557.00826049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.45sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787534556.34487510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787534556.40505290 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948393 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787534557.00826049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-24 01:22:37.132] [info] Accepted new action goal ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070306 ms (missed cycles : 4).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778773 ms (missed cycles : 6). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.778773 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787534559.13839817 seconds ×3 + 3.31sWARNros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338487 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338487 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787534560.74617910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874641 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874641 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_node[2026-08-24 01:22:42.350] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750554 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750554 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_node[0;93m2026-08-24 01:22:43.162797412 [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 + 6.82sINFOobjective_server_node[0;93m2026-08-24 01:22:43.162831725 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_node[2026-08-24 01:22:44.221] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764556775 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764590191 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.49sINFOobjective_server_node[2026-08-24 01:22:44.931] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.55sINFOobjective_server_node[0;93m2026-08-24 01:22:44.991763734 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995113500 [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 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995141224 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.62sINFOobjective_server_node[2026-08-24 01:22:45.060] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.02sINFOobjective_server_node[0;93m2026-08-24 01:22:45.462177311 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485202723 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485235471 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787534567.38894892 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787534568.08005357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.73sINFOobjective_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 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781557 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_node[2026-08-24 01:22:44.221] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227949 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764556775 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-24 01:22:44.764590191 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.49sINFOobjective_server_node[2026-08-24 01:22:44.931] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.55sINFOobjective_server_node[0;93m2026-08-24 01:22:44.991763734 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995113500 [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 + 1.56sINFOobjective_server_node[0;93m2026-08-24 01:22:44.995141224 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.62sINFOobjective_server_node[2026-08-24 01:22:45.060] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 2.02sINFOobjective_server_node[0;93m2026-08-24 01:22:45.462177311 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485202723 [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 + 2.05sINFOobjective_server_node[0;93m2026-08-24 01:22:45.485235471 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626349 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677733 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787534567.38894892 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655641 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787534568.08005357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.73sINFOobjective_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 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-24 01:22:48.503] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202034 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705748 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2553 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×414 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×414 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×828 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×828 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372772 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372772 ms (missed cycles : 2).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653365 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653365 ms (missed cycles : 3).[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791246 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791246 ms (missed cycles : 2).[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000059 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000059 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787534689.37733936 seconds ×3 + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224344 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224344 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787534690.02685118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.76sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 5 iterations (0.00987898 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.97sINFOros2_control_node[2026-08-24 01:24:50.303] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-24 01:24:50.303] [info] Accepted new action goal ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993103 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993103 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689244 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689244 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189597 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189597 ms (missed cycles : 3).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858946 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858946 ms (missed cycles : 4).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787534717.92708421 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579389 ms (missed cycles : 5). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579389 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787534718.60571909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-24 01:25:18.850] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-24 01:25:18.850] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166998 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166998 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338602 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338602 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722913 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606055 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-24 01:25:25.820] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822598 ms (missed cycles : 6).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-24 01:25:27.743] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749343 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-24 01:25:28.696] [info] Canceling active goal... ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787534728.71416521 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787534729.39403915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-24 01:25:29.588] [info] Accepted new action goal ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956537 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434503 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082964 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082964 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590096 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590096 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618016 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618016 ms (missed cycles : 5).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637540 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787534750.17386985 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859515 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859515 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787534750.77840614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-24 01:25:50.904] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-24 01:25:50.904] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737404 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737404 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807179 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807179 ms (missed cycles : 3).[0m ×2 + 6.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116791 ms (missed cycles : 6).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_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 + 3.04sERRORobjective_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: 1787534761.08874655 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_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 + 2.34sERRORobjective_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: 1787534761.08874655 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.46sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_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 + 2.34sERRORobjective_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: 1787534761.08874655 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.46sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170415 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602071 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_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 + 2.34sERRORobjective_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: 1787534761.08874655 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157929 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787534761.73888779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787534761.80903506 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342108 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787534762.41075063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787534762.43312860 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787534763.08325744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.46sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-24 01:26:03.207] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671135 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068803 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.953512 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.953512 ms (missed cycles : 7).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860239 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860239 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832498 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832498 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-08-24 01:26:13.093] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-24 01:26:13.093] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787534773.09892225 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429630 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429630 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787534773.70662785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592990 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592990 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857137 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857137 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.953512 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.953512 ms (missed cycles : 7).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860239 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860239 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_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 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832498 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832498 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-08-24 01:26:13.093] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-24 01:26:13.093] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787534773.09892225 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429630 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429630 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787534773.70662785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592990 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592990 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857137 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857137 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 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 | 9.1s | 42 warnings · 623 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/2026-08-24-01-21-07-616788-8a3ec5a62073-8900 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.87sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.87sINFOcontroller_managerupdate rate is 600 Hz + 1.87sINFOcontroller_managerOverruns handling is : enabled + 1.87sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.87sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594031 ms (missed cycles : 2). + 2.14sINFOros2_control_node-1process started with pid [8948] ×2 + 2.14sINFOmove_group-9process started with pid [8985] ×2 + 2.14sINFOparameter_manager_node-10process started with pid [8986] ×2 + 2.14sINFOwaypoint_manager_node-11process started with pid [8987] ×2 + 2.14sINFOmove_joint_resampler_node-12process started with pid [8988] ×2 + 2.14sINFOmove_end_effector_resampler_node-13process started with pid [8989] ×2 + 2.14sINFOobjective_server_node_main-14process started with pid [8990] ×2 + 2.14sINFOcomponent_container_mt-15process started with pid [8991] ×2 + 2.14sINFOcomponent_container_mt-16process started with pid [8992] ×2 + 2.14sINFOexecute_objective_bridge-17process started with pid [8993] ×2 + 2.15sINFOui_teleop_bridge-18process started with pid [8994] ×2 + 2.15sINFOweb_bridge-19process started with pid [8995] ×2 + 2.15sINFOtf2_web_republisher_node-20process started with pid [9059] ×2 + 2.15sINFOvideo_server-21process started with pid [9060] ×2 + 2.15sINFOweb_bridge_auth_proxy-22process started with pid [9061] ×2 + 2.15sINFOweb_video_auth_proxy-23process started with pid [9064] ×2 + 2.17sINFOros2-2process started with pid [8949] ×2 + 2.17sINFOros2-3process started with pid [8950] ×2 + 2.17sINFOros2-4process started with pid [8951] ×2 + 2.17sINFOros2-5process started with pid [8952] ×2 + 2.17sINFOros2-6process started with pid [8953] ×2 + 2.17sINFOros2-7process started with pid [8954] ×2 + 2.17sINFOros2-8process started with pid [8955] ×2 + 2.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.20sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.20sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.20sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.20sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.20sWARNros2_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 + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594031 ms (missed cycles : 2).[0m ×2 + 2.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.32sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.39sINFOcontroller_managerReceived robot description from topic. + 2.39sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.39sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.39sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.41sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.41sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.51sINFOvideo_server2026/08/24 01:21:10 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.51sINFOvideo_server2026/08/24 01:21:10 INF configuration loaded from /tmp/moveit-webrtc-0jjkhalu/mediamtx.yml ×2 + 2.51sINFOvideo_server2026/08/24 01:21:10 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.51sINFOvideo_server2026/08/24 01:21:10 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.04sINFOmove_group[2026-08-24 01:21:11.430] [moveit_pro_license] [info] ×2 + 3.04sINFOmove_group************************************************* ×4 + 3.04sINFOmove_group* MoveIt Pro License ×2 + 3.04sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227690 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227690 ms (missed cycles : 3).[0m ×2 + 3.43sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.49sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.50sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.57sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.57sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.58sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.58sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.60sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 3.60sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 3.65sINFOmove_group ×4 + 3.65sINFOmove_group[92mYou can start planning now![0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.75sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.80sINFOwaypoint_manager_node[2026-08-24 01:21:12.193] [moveit_pro_license] [info] ×2 + 3.80sINFOwaypoint_manager_node************************************************* ×4 + 3.80sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.80sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.91sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.01sINFOobjective_server_node[2026-08-24 01:21:13.401] [moveit_pro_license] [info] ×2 + 5.01sINFOobjective_server_node************************************************* ×4 + 5.01sINFOobjective_server_node* MoveIt Pro License ×2 + 5.01sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.18sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.18sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.19sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.20sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.20sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.20sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.20sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.20sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.20sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.20sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.27sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.27sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.59sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.64sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.64sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.64sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.64sWARNros2_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 + 5.64sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.64sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.64sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.64sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.64sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.64sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.64sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.64sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.64sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.64sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.64sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.64sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.64sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.64sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.64sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.64sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.64sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.64sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.64sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.75sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.75sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.75sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.92sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 5.92sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 5.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.94sINFOcomponent_container_mt[2026-08-24 01:21:14.332] [moveit_pro_license] [info] ×2 + 5.94sINFOcomponent_container_mt************************************************* ×4 + 5.94sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.94sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751959 ms (missed cycles : 2). + 5.97sINFOros2_control_node[2026-08-24 01:21:14.363] [info] Controller state will be published at 20 Hz. ×2 + 5.98sINFOros2_control_node[2026-08-24 01:21:14.364] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751959 ms (missed cycles : 2).[0m ×2 + 6.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 6.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.19sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 6.19sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.19sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 6.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 6.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 6.29sINFOros2-8process has finished cleanly [pid 8955] ×2 + 6.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.34sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.69sINFOros2-4process has finished cleanly [pid 8951] ×2 + 6.70sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.70sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.70sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.70sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.78sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 6.78sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 6.82sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.82sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.83sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.83sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.86sINFOros2_control_node[2026-08-24 01:21:15.246] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.86sINFOros2_control_node[2026-08-24 01:21:15.246] [info] Controller state will be published at 50 Hz. ×2 + 6.86sINFOros2_control_node[2026-08-24 01:21:15.253] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2).[0m ×2 + 7.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 7.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 7.18sINFOros2-6process has finished cleanly [pid 8953] ×2 + 7.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.23sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.24sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 7.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.58sINFOros2-5process has finished cleanly [pid 8952] ×2 + 7.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 7.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 7.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.69sINFOros2_control_node[2026-08-24 01:21:16.084] [info] Controller state will be published at 10 Hz. ×2 + 7.70sINFOros2_control_node[2026-08-24 01:21:16.085] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.03sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 8.03sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 8.03sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 8.03sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 8.03sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 8.04sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 8.05sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.05sINFOros2-7process has finished cleanly [pid 8954] ×2 + 8.08sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 8.08sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 8.08sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 8.08sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 8.08sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 8.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 8.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 8.09sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 8.09sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 8.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 8.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 8.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 8.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.46sINFOforce_torque_sensor_broadcasterconfigure successful + 8.46sINFOros2_control_nodeconfigure successful[0m ×2 + 8.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.46sINFOros2-3process has finished cleanly [pid 8950] ×2 + 8.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.79sINFOros2-2process has finished cleanly [pid 8949] ×2 + 8.90sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 9.91sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 10.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 11.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 11.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 310 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.20sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.20sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.22sINFOros2-7process has finished cleanly [pid 8954] ×2 + 0.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.25sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.25sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.25sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 0.26sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.26sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 0.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 8949] ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 2.07sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 31 warnings · 404 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.13sINFOros2-6process has finished cleanly [pid 8953] ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.17sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.19sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.53sINFOros2-5process has finished cleanly [pid 8952] ×2 + 0.56sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.64sINFOros2_control_node[2026-08-24 01:21:16.084] [info] Controller state will be published at 10 Hz. ×2 + 0.64sINFOros2_control_node[2026-08-24 01:21:16.085] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.78sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.98sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.98sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.98sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.98sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.98sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.98sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.99sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.99sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOros2-7process has finished cleanly [pid 8954] ×2 + 1.03sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.03sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 1.04sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.35sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.35sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.40sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.40sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.40sINFOforce_torque_sensor_broadcasterconfigure successful + 1.40sINFOros2_control_nodeconfigure successful[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.41sINFOros2-3process has finished cleanly [pid 8950] ×2 + 1.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.74sINFOros2-2process has finished cleanly [pid 8949] ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 2.85sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_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 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.62sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 6.62sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 28 warnings · 310 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.20sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.20sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.22sINFOros2-7process has finished cleanly [pid 8954] ×2 + 0.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.25sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.25sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.25sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 0.26sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.26sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 0.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 8949] ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 2.07sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 28 warnings · 404 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8951] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.14sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-08-24 01:21:15.246] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-08-24 01:21:15.246] [info] Controller state will be published at 50 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-24 01:21:15.253] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 8953] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8952] ×2 + 0.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.01sINFOros2_control_node[2026-08-24 01:21:16.084] [info] Controller state will be published at 10 Hz. ×2 + 1.01sINFOros2_control_node[2026-08-24 01:21:16.085] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.37sINFOros2-7process has finished cleanly [pid 8954] ×2 + 1.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 1.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.71sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.71sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.76sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.77sINFOforce_torque_sensor_broadcasterconfigure successful + 1.77sINFOros2_control_nodeconfigure successful[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 8950] ×2 + 1.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOros2-2process has finished cleanly [pid 8949] ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 3.22sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-24-01-21-07-616788-8a3ec5a62073-8900 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.87sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.87sINFOcontroller_managerupdate rate is 600 Hz + 1.87sINFOcontroller_managerOverruns handling is : enabled + 1.87sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.87sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594031 ms (missed cycles : 2). + 2.14sINFOros2_control_node-1process started with pid [8948] ×2 + 2.14sINFOmove_group-9process started with pid [8985] ×2 + 2.14sINFOparameter_manager_node-10process started with pid [8986] ×2 + 2.14sINFOwaypoint_manager_node-11process started with pid [8987] ×2 + 2.14sINFOmove_joint_resampler_node-12process started with pid [8988] ×2 + 2.14sINFOmove_end_effector_resampler_node-13process started with pid [8989] ×2 + 2.14sINFOobjective_server_node_main-14process started with pid [8990] ×2 + 2.14sINFOcomponent_container_mt-15process started with pid [8991] ×2 + 2.14sINFOcomponent_container_mt-16process started with pid [8992] ×2 + 2.14sINFOexecute_objective_bridge-17process started with pid [8993] ×2 + 2.15sINFOui_teleop_bridge-18process started with pid [8994] ×2 + 2.15sINFOweb_bridge-19process started with pid [8995] ×2 + 2.15sINFOtf2_web_republisher_node-20process started with pid [9059] ×2 + 2.15sINFOvideo_server-21process started with pid [9060] ×2 + 2.15sINFOweb_bridge_auth_proxy-22process started with pid [9061] ×2 + 2.15sINFOweb_video_auth_proxy-23process started with pid [9064] ×2 + 2.17sINFOros2-2process started with pid [8949] ×2 + 2.17sINFOros2-3process started with pid [8950] ×2 + 2.17sINFOros2-4process started with pid [8951] ×2 + 2.17sINFOros2-5process started with pid [8952] ×2 + 2.17sINFOros2-6process started with pid [8953] ×2 + 2.17sINFOros2-7process started with pid [8954] ×2 + 2.17sINFOros2-8process started with pid [8955] ×2 + 2.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.20sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.20sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.20sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.20sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.20sWARNros2_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 + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594031 ms (missed cycles : 2).[0m ×2 + 2.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.32sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.39sINFOcontroller_managerReceived robot description from topic. + 2.39sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.39sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.39sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.41sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.41sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.51sINFOvideo_server2026/08/24 01:21:10 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.51sINFOvideo_server2026/08/24 01:21:10 INF configuration loaded from /tmp/moveit-webrtc-0jjkhalu/mediamtx.yml ×2 + 2.51sINFOvideo_server2026/08/24 01:21:10 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.51sINFOvideo_server2026/08/24 01:21:10 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 | 28 warnings · 404 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8951] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.14sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-08-24 01:21:15.246] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-08-24 01:21:15.246] [info] Controller state will be published at 50 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-24 01:21:15.253] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 8953] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8952] ×2 + 0.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.01sINFOros2_control_node[2026-08-24 01:21:16.084] [info] Controller state will be published at 10 Hz. ×2 + 1.01sINFOros2_control_node[2026-08-24 01:21:16.085] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.37sINFOros2-7process has finished cleanly [pid 8954] ×2 + 1.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 1.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.71sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.71sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.76sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.77sINFOforce_torque_sensor_broadcasterconfigure successful + 1.77sINFOros2_control_nodeconfigure successful[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 8950] ×2 + 1.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOros2-2process has finished cleanly [pid 8949] ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 3.22sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 28 warnings · 404 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8951] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.14sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-08-24 01:21:15.216] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-08-24 01:21:15.246] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-08-24 01:21:15.246] [info] Controller state will be published at 50 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-24 01:21:15.253] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 8953] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8952] ×2 + 0.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.01sINFOros2_control_node[2026-08-24 01:21:16.084] [info] Controller state will be published at 10 Hz. ×2 + 1.01sINFOros2_control_node[2026-08-24 01:21:16.085] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.37sINFOros2-7process has finished cleanly [pid 8954] ×2 + 1.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 1.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.71sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.71sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.76sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.77sINFOforce_torque_sensor_broadcasterconfigure successful + 1.77sINFOros2_control_nodeconfigure successful[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 8950] ×2 + 1.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOros2-2process has finished cleanly [pid 8949] ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 3.22sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 404 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726557 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.13sINFOros2-6process has finished cleanly [pid 8953] ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.17sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.19sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.53sINFOros2-5process has finished cleanly [pid 8952] ×2 + 0.56sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.64sINFOros2_control_node[2026-08-24 01:21:16.084] [info] Controller state will be published at 10 Hz. ×2 + 0.64sINFOros2_control_node[2026-08-24 01:21:16.085] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.78sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.98sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.98sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.98sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.98sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.98sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 0.98sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 0.99sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.99sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOros2-7process has finished cleanly [pid 8954] ×2 + 1.03sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.03sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111916 ms (missed cycles : 3).[0m ×2 + 1.04sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534476.68345761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534476.69368529 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.35sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.35sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ + 1.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9nd6avda --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qz9xbc_v --params-file /tmp/launch_params_xugxq08_ [0m ×2 + 1.40sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.40sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.40sINFOforce_torque_sensor_broadcasterconfigure successful + 1.40sINFOros2_control_nodeconfigure successful[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.41sINFOros2-3process has finished cleanly [pid 8950] ×2 + 1.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.74sINFOros2-2process has finished cleanly [pid 8949] ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 2.85sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_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 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.62sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 6.62sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×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 · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 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 · 241 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497040 ms (missed cycles : 3). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497040 ms (missed cycles : 3).[0m ×2 + 7.21sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/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 · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 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_example.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 233 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOros2-3process has finished cleanly [pid 8950] ×2 + 0.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8949] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787534477.29284644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118019 ms (missed cycles : 5).[0m ×2 + 1.45sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787534478.35301256 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514656 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787534478.99106145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787534479.05122972 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562457 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534479.70481658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534479.72495675 seconds ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534480.44378304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534480.59439135 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774504 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534481.27758312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534481.31772017 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709783 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787534481.91832256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7199e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-24 01:21:22.064] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134754 ms (missed cycles : 2).[0m ×2 | ||||