122
Total objective tests
32
Objectives passed
0
Objectives failed
90
Objectives skipped
9.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 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 | 160 warnings · 19914 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802214 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969754 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969754 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847023 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847023 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788481322.41215396 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788481323.00874615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.09sINFOros2_control_node[2026-09-04 00:22:03.172] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-04 00:22:03.172] [info] Accepted new action goal ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583473 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583473 ms (missed cycles : 4).[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668034 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668034 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_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 + 4.37sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245606 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245606 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680428 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680428 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal ×3275 + 6.56sINFOjoint_trajectory_controllerAccepted new action goal ×3275 + 6.56sINFOros2_control_nodeReceived new action goal[0m ×6550 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×6550 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831951 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831951 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054234 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054234 ms (missed cycles : 4).[0m ×2 + 9.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881517 ms (missed cycles : 6). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881517 ms (missed cycles : 6).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897256 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897256 ms (missed cycles : 2).[0m ×2 + 11.43sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.43sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.43sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.43sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.43sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551419 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551419 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901661 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901661 ms (missed cycles : 2).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897461 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897461 ms (missed cycles : 2).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234025 ms (missed cycles : 4). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234025 ms (missed cycles : 4).[0m ×2 + 15.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017010 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017010 ms (missed cycles : 2).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136723 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136723 ms (missed cycles : 2).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400789 ms (missed cycles : 3). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400789 ms (missed cycles : 3).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046193 ms (missed cycles : 2). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046193 ms (missed cycles : 2).[0m ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455223 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455223 ms (missed cycles : 2).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361629 ms (missed cycles : 6). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361629 ms (missed cycles : 6).[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977600 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977600 ms (missed cycles : 2).[0m ×2 + 23.16sWARNros2_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 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772588 ms (missed cycles : 2). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772588 ms (missed cycles : 2).[0m ×2 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811567 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811567 ms (missed cycles : 2).[0m ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669301 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669301 ms (missed cycles : 2).[0m ×2 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172927 ms (missed cycles : 2). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172927 ms (missed cycles : 2).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717917 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717917 ms (missed cycles : 2).[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839109 ms (missed cycles : 2). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839109 ms (missed cycles : 2).[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369032 ms (missed cycles : 4). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369032 ms (missed cycles : 4).[0m ×2 + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679195 ms (missed cycles : 2). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679195 ms (missed cycles : 2).[0m ×2 + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800291 ms (missed cycles : 2). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800291 ms (missed cycles : 2).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542453 ms (missed cycles : 4). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542453 ms (missed cycles : 4).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352320 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352320 ms (missed cycles : 2).[0m ×2 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713264 ms (missed cycles : 2). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713264 ms (missed cycles : 2).[0m ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779510 ms (missed cycles : 2). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779510 ms (missed cycles : 2).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719910 ms (missed cycles : 2). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719910 ms (missed cycles : 2).[0m ×2 + 37.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319950 ms (missed cycles : 2). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319950 ms (missed cycles : 2).[0m ×2 + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703022 ms (missed cycles : 2). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703022 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898542 ms (missed cycles : 2). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898542 ms (missed cycles : 2).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694121 ms (missed cycles : 2). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694121 ms (missed cycles : 2).[0m ×2 + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040808 ms (missed cycles : 2). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040808 ms (missed cycles : 2).[0m ×2 + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048201 ms (missed cycles : 2). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048201 ms (missed cycles : 2).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980420 ms (missed cycles : 2). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980420 ms (missed cycles : 2).[0m ×2 + 44.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612109 ms (missed cycles : 2). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612109 ms (missed cycles : 2).[0m ×2 + 45.28sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915429 ms (missed cycles : 2). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915429 ms (missed cycles : 2).[0m ×2 + 46.74sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481366.81749892 seconds ×3 + 46.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.29sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788481367.44693923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.42sINFOobjective_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 + 47.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.51sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 47.52sINFOros2_control_node[2026-09-04 00:22:47.600] [info] Received new action goal ×2 + 47.52sINFOros2_control_node[2026-09-04 00:22:47.600] [info] Accepted new action goal ×2 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949577 ms (missed cycles : 5). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949577 ms (missed cycles : 5).[0m ×2 + 48.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.642967 ms (missed cycles : 6). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.642967 ms (missed cycles : 6).[0m ×2 + 49.22sWARNros2_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 + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861794 ms (missed cycles : 2). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861794 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.6s | 154 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (6.41e-07 s). ×2 + 7.15sINFOros2_control_node[2026-09-04 00:21:11.070] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-09-04 00:21:11.070] [info] Accepted new action goal ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408186 ms (missed cycles : 7). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408186 ms (missed cycles : 7).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807236 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807236 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488582 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488582 ms (missed cycles : 3).[0m ×2 + 10.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.43sINFOros2_control_node[2026-09-04 00:21:14.350] [info] Received new action goal ×2 + 10.43sINFOros2_control_node[2026-09-04 00:21:14.350] [info] Accepted new action goal ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885985 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885985 ms (missed cycles : 2).[0m ×2 + 11.01sWARNros2_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 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742978 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742978 ms (missed cycles : 2).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048504 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048504 ms (missed cycles : 2).[0m ×2 + 13.41sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.46sINFOros2_control_node[2026-09-04 00:21:17.383] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-09-04 00:21:17.383] [info] Accepted new action goal ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225753 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225753 ms (missed cycles : 2).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195445 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195445 ms (missed cycles : 2).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280703 ms (missed cycles : 6). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280703 ms (missed cycles : 6).[0m ×2 + 16.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.43sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.43sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.43sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.43sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×6 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627650 ms (missed cycles : 3). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627650 ms (missed cycles : 3).[0m ×2 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271732 ms (missed cycles : 5). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271732 ms (missed cycles : 5).[0m ×2 + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736199 ms (missed cycles : 2). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736199 ms (missed cycles : 2).[0m ×2 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962737 ms (missed cycles : 5). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962737 ms (missed cycles : 5).[0m ×2 + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047365 ms (missed cycles : 4). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047365 ms (missed cycles : 4).[0m ×2 + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596318 ms (missed cycles : 3). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596318 ms (missed cycles : 3).[0m ×2 + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047574 ms (missed cycles : 2). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047574 ms (missed cycles : 2).[0m ×2 + 23.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.95sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.95sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.95sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.95sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263562 ms (missed cycles : 5). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263562 ms (missed cycles : 5).[0m ×2 + 24.83sINFOros2_control_node[2026-09-04 00:21:28.749] [info] Received new action goal ×2 + 24.83sINFOros2_control_node[2026-09-04 00:21:28.749] [info] Accepted new action goal ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255738 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255738 ms (missed cycles : 2).[0m ×2 + 26.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.02sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.13sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 26.17sINFOros2_control_node[2026-09-04 00:21:30.094] [info] Received new action goal ×2 + 26.17sINFOros2_control_node[2026-09-04 00:21:30.094] [info] Accepted new action goal ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457380 ms (missed cycles : 3). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457380 ms (missed cycles : 3).[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183490 ms (missed cycles : 2). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183490 ms (missed cycles : 2).[0m ×2 + 28.48sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 28.48sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.49sINFOros2_control_node[2026-09-04 00:21:32.410] [info] Received new action goal ×2 + 28.49sINFOros2_control_node[2026-09-04 00:21:32.410] [info] Accepted new action goal ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558820 ms (missed cycles : 4). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558820 ms (missed cycles : 4).[0m ×2 + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710914 ms (missed cycles : 2). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710914 ms (missed cycles : 2).[0m ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720316 ms (missed cycles : 2). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720316 ms (missed cycles : 2).[0m ×2 + 31.62sINFOros2_control_node[2026-09-04 00:21:35.540] [info] Received new action goal ×2 + 31.62sINFOros2_control_node[2026-09-04 00:21:35.540] [info] Accepted new action goal ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941808 ms (missed cycles : 2). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941808 ms (missed cycles : 2).[0m ×2 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529116 ms (missed cycles : 2). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529116 ms (missed cycles : 2).[0m ×2 + 34.21sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 34.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.27sINFOros2_control_node[2026-09-04 00:21:38.187] [info] Received new action goal ×2 + 34.27sINFOros2_control_node[2026-09-04 00:21:38.187] [info] Accepted new action goal ×2 + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714623 ms (missed cycles : 2). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714623 ms (missed cycles : 2).[0m ×2 + 35.23sWARNros2_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 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350349 ms (missed cycles : 3). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350349 ms (missed cycles : 3).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836390 ms (missed cycles : 2). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836390 ms (missed cycles : 2).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325976 ms (missed cycles : 4). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325976 ms (missed cycles : 4).[0m ×2 + 39.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116562 ms (missed cycles : 2). + 39.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116562 ms (missed cycles : 2).[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998186 ms (missed cycles : 3). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998186 ms (missed cycles : 3).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417228 ms (missed cycles : 3). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417228 ms (missed cycles : 3).[0m ×2 + 41.44sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.99sWARNros2_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 + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207814 ms (missed cycles : 4). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207814 ms (missed cycles : 4).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516187 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516187 ms (missed cycles : 2).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668568 ms (missed cycles : 2). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668568 ms (missed cycles : 2).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326871 ms (missed cycles : 2). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326871 ms (missed cycles : 2).[0m ×2 + 45.57sINFOros2_control_node[2026-09-04 00:21:49.489] [info] Received new action goal ×2 + 45.57sINFOros2_control_node[2026-09-04 00:21:49.489] [info] Accepted new action goal ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829422 ms (missed cycles : 3). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829422 ms (missed cycles : 3).[0m ×2 + 46.74sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788481310.66685653 seconds ×3 + 47.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.35sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484605 ms (missed cycles : 3). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484605 ms (missed cycles : 3).[0m ×2 + 47.54sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788481311.46200323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025388 ms (missed cycles : 2). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025388 ms (missed cycles : 2).[0m ×2 + 48.76sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 48.78sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.79sINFOros2_control_node[2026-09-04 00:21:52.706] [info] Received new action goal ×2 + 48.79sINFOros2_control_node[2026-09-04 00:21:52.706] [info] Accepted new action goal ×2 + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923700 ms (missed cycles : 5). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923700 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 91 warnings · 13866 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2278 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2278 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4556 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4556 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980420 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980420 ms (missed cycles : 2).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612109 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612109 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915429 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915429 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481366.81749892 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788481367.44693923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-09-04 00:22:47.600] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 00:22:47.600] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949577 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949577 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_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 + 5.40sINFOobjective_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 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.642967 ms (missed cycles : 6). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.642967 ms (missed cycles : 6).[0m ×2 + 5.77sWARNros2_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 ×4 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861794 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861794 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807265 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807265 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810855 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810855 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828620 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828620 ms (missed cycles : 2).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919044 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919044 ms (missed cycles : 2).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202891 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202891 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.165505 ms (missed cycles : 7). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.165505 ms (missed cycles : 7).[0m ×2 + 12.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169512 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169512 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889475 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889475 ms (missed cycles : 2).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486748 ms (missed cycles : 6). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486748 ms (missed cycles : 6).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.147134 ms (missed cycles : 6). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.147134 ms (missed cycles : 6).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436217 ms (missed cycles : 5). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436217 ms (missed cycles : 5).[0m ×2 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674786 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674786 ms (missed cycles : 2).[0m ×2 + 19.80sWARNros2_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 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334972 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334972 ms (missed cycles : 2).[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778741 ms (missed cycles : 2). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778741 ms (missed cycles : 2).[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2).[0m ×2 + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2).[0m ×2 + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2).[0m ×2 + 25.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481388.92691946 seconds ×3 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2).[0m ×2 + 26.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788481389.64503789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.32sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Accepted new action goal ×2 + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2).[0m ×2 + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6).[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799517 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799517 ms (missed cycles : 2).[0m ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 0.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.88sINFOobjective_server_nodeFound path in 1 iterations (0.00439171 s). ×2 + 1.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783549 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783549 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.12sINFOros2_control_node[2026-09-04 00:20:48.669] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-04 00:20:48.669] [info] Accepted new action goal ×2 + 1.52sINFOros2_control_node[2026-09-04 00:20:49.071] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-09-04 00:20:49.071] [info] Accepted new action goal ×2 + 2.43sWARNros2_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 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349730 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349730 ms (missed cycles : 2).[0m ×2 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_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 + 3.01sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.01sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.03sERRORobjective_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: 1788481250.57650137 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098987 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098987 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788481251.38673353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-09-04 00:20:51.562] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 00:20:51.562] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745292 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745292 ms (missed cycles : 5).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769212 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769212 ms (missed cycles : 2).[0m ×2 + 6.53sINFOros2_control_node[2026-09-04 00:20:54.081] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 00:20:54.081] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546941 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546941 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143273 ms (missed cycles : 4). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143273 ms (missed cycles : 4).[0m ×2 + 8.44sWARNros2_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 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115237 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115237 ms (missed cycles : 2).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416592 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416592 ms (missed cycles : 3).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868598 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868598 ms (missed cycles : 2).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688112 ms (missed cycles : 5). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688112 ms (missed cycles : 5).[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542219 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542219 ms (missed cycles : 2).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037694 ms (missed cycles : 3). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037694 ms (missed cycles : 3).[0m ×2 + 14.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788481262.64007783 seconds ×3 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295133 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295133 ms (missed cycles : 2).[0m ×2 + 15.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.71sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788481263.30745101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.83sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788481263.37759423 seconds ×3 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922175 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922175 ms (missed cycles : 2).[0m ×2 + 16.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.37sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.42sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.54sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 16.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.56sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 16.56sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 18.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.8s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749783 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749783 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081177 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081177 ms (missed cycles : 4).[0m ×2 + 7.98sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.98sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.98sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 1 iterations (0.00406711 s). ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513490 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513490 ms (missed cycles : 4).[0m ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.65sINFOros2_control_node[2026-09-04 00:20:11.653] [info] Received new action goal ×2 + 8.65sINFOros2_control_node[2026-09-04 00:20:11.653] [info] Accepted new action goal ×2 + 9.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.452819 ms (missed cycles : 6). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.452819 ms (missed cycles : 6).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843820 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843820 ms (missed cycles : 2).[0m ×2 + 10.96sINFOros2_control_node[2026-09-04 00:20:13.965] [info] Received new action goal ×2 + 10.96sINFOros2_control_node[2026-09-04 00:20:13.965] [info] Accepted new action goal ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4).[0m ×2 + 12.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2).[0m ×2 + 12.73sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Received new action goal ×2 + 12.73sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Accepted new action goal ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788481217.02110934 seconds ×3 + 14.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788481217.64002395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788481217.72016096 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3).[0m ×2 + 15.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.30sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.36sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788481218.36375165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 15.47sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.48sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Accepted new action goal ×2 + 15.95sWARNros2_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 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668568 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668568 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.48sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.48sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.48sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326871 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326871 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.36sINFOros2_control_node[2026-09-04 00:21:49.489] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-09-04 00:21:49.489] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829422 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829422 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788481310.66685653 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484605 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484605 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788481311.46200323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025388 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025388 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.58sINFOros2_control_node[2026-09-04 00:21:52.706] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-04 00:21:52.706] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923700 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923700 ms (missed cycles : 5).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124516 ms (missed cycles : 5). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124516 ms (missed cycles : 5).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582171 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582171 ms (missed cycles : 2).[0m ×2 + 8.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582199 ms (missed cycles : 4). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582199 ms (missed cycles : 4).[0m ×2 + 9.75sWARNros2_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 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199759 ms (missed cycles : 4). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199759 ms (missed cycles : 4).[0m ×2 + 10.65sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.68sINFOros2_control_node[2026-09-04 00:21:58.807] [info] Received new action goal ×2 + 10.68sINFOros2_control_node[2026-09-04 00:21:58.807] [info] Accepted new action goal ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433010 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433010 ms (missed cycles : 2).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802214 ms (missed cycles : 5). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802214 ms (missed cycles : 5).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969754 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969754 ms (missed cycles : 2).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847023 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847023 ms (missed cycles : 2).[0m ×2 + 14.28sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788481322.41215396 seconds ×3 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788481323.00874615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.04sINFOros2_control_node[2026-09-04 00:22:03.172] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-09-04 00:22:03.172] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583473 ms (missed cycles : 4). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583473 ms (missed cycles : 4).[0m ×2 + 15.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668034 ms (missed cycles : 3). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668034 ms (missed cycles : 3).[0m ×2 + 16.31sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.32sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245606 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245606 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 57 errors · 42 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5).[0m ×2 + 0.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Got request to cancel active goal. ×2 + 0.10sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Canceling active goal... ×2 + 0.10sERRORobjective_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: 1788481444.53614640 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481445.13184476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481446.16196275 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788481446.74685597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.31sINFOobjective_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 + 2.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788481446.74873161 seconds ×3 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788481447.33775806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788481447.33836842 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481448.09408164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099002 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099002 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788481449.56421494 seconds ×3 + 5.17sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338611 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338611 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129130 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129130 ms (missed cycles : 6).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098383 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098383 ms (missed cycles : 4).[0m ×2 + 7.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288933 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288933 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815949 ms (missed cycles : 6). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815949 ms (missed cycles : 6).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691520 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691520 ms (missed cycles : 2).[0m ×2 + 10.73sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.75sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORweb_video_auth_proxy-23process has died [pid 7480, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.75sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.75sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORweb_bridge_auth_proxy-22process has died [pid 7479, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.75sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.76sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.77sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.77sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.77sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.78sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.78sINFOvideo_server-21process has finished cleanly [pid 7478] ×2 + 10.78sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.79sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.79sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.80sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.80sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.80sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.81sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.81sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.82sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.82sINFOvideo_server2026/09/04 00:24:15 INF shutting down gracefully ×2 + 10.82sINFOvideo_server2026/09/04 00:24:15 INF [WebRTC] closing ×2 + 10.82sINFOvideo_server2026/09/04 00:24:15 INF [RTSP] closing ×2 + 10.82sINFOvideo_server2026/09/04 00:24:15 INF waiting for running hooks ×2 + 10.82sINFOcontroller_managerShutdown request received.... + 10.82sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.82sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.82sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.82sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.82sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.82sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down the controller manager. + 10.82sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.82sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.82sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.82sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.82sERRORmove_groupStack trace (most recent call last) in thread 7827: ×2 + 10.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.83sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.83sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb17cf3aa63, in __clone ×2 + 10.83sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb17ceadaa3, in ×2 + 10.83sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb17d13fdb3, in ×2 + 10.83sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fb17d8a49e7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.83sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb17d4d1620, in rclcpp::Rate::sleep() ×2 + 10.83sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb17d413d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.83sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb17d3d5087, in ×2 + 10.83sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb17d10e390, in __cxa_throw ×2 + 10.83sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb17d0f8a54, in std::terminate() ×2 + 10.83sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb17d10e0d9, in ×2 + 10.83sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb17d0f8ff4, in ×2 + 10.83sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb17ce398fe, in abort ×2 + 10.83sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb17ce5627d, in raise ×2 + 10.83sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb17ceafb2c, in pthread_kill ×2 + 10.83sERRORmove_groupAborted (Signal sent by tkill() 7391 0) ×2 + 10.84sERRORmove_group-9process has died [pid 7391, 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_xzq3yhwz --params-file /tmp/launch_params__xvbr9k5 --params-file /tmp/launch_params_f34gyt47 --params-file /tmp/launch_params_0wm2ztii --params-file /tmp/launch_params_ddgpgqjj --params-file /tmp/launch_params_m1iwbkpn']. ×2 + 11.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.03sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.03sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.83sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7477] ×2 + 11.83sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.84sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7395] ×2 + 11.84sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7394] ×2 + 11.88sINFOui_teleop_bridge-18process has finished cleanly [pid 7400] ×2 + 11.88sINFOparameter_manager_node-10process has finished cleanly [pid 7392] ×2 + 11.88sINFOwaypoint_manager_node-11process has finished cleanly [pid 7393] ×2 + 11.89sINFOcomponent_container_mt-16process has finished cleanly [pid 7398] ×2 + 11.89sINFOexecute_objective_bridge-17process has finished cleanly [pid 7399] ×2 + 12.00sINFOobjective_server_node[0;m[2026-09-04 00:24:16.432] [moveit_pro_license] [info] ×2 + 12.00sINFOobjective_server_node************************************************* ×4 + 12.00sINFOobjective_server_node* MoveIt Pro License ×2 + 12.00sINFOobjective_server_node* Application has successfully terminated ×2 + 12.12sINFOobjective_server_node_main-14process has finished cleanly [pid 7396] ×2 + 12.12sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.97sINFOcomponent_container_mt-15process has finished cleanly [pid 7397] ×2 + 13.17sINFOweb_bridge-19process has finished cleanly [pid 7401] ×2 + 13.17sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.45sINFOros2_control_node-1process has finished cleanly [pid 7350] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267152 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267152 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.14sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094768 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094768 ms (missed cycles : 4).[0m ×2 + 1.41sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.41sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.42sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788481237.99677777 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020400 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020400 ms (missed cycles : 2).[0m ×2 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536057 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536057 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788481240.10302734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:20:40.298] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:20:40.298] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993612 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993612 ms (missed cycles : 4).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463067 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463067 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087629 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087629 ms (missed cycles : 2).[0m ×2 + 6.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609377 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609377 ms (missed cycles : 2).[0m ×2 + 8.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 1 iterations (0.00395566 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 2 iterations (0.00518796 s). ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636104 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636104 ms (missed cycles : 3).[0m ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 1 iterations (0.00352479 s). ×2 + 8.81sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.20sINFOros2_control_node[2026-09-04 00:20:45.751] [info] Received new action goal ×2 + 9.20sINFOros2_control_node[2026-09-04 00:20:45.751] [info] Accepted new action goal ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023711 ms (missed cycles : 6). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023711 ms (missed cycles : 6).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799517 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799517 ms (missed cycles : 2).[0m ×2 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 11.73sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.75sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.88sINFOobjective_server_nodeFound path in 1 iterations (0.00439171 s). ×2 + 12.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783549 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783549 ms (missed cycles : 2).[0m ×2 + 12.12sINFOros2_control_node[2026-09-04 00:20:48.669] [info] Received new action goal ×2 + 12.12sINFOros2_control_node[2026-09-04 00:20:48.669] [info] Accepted new action goal ×2 + 12.52sINFOros2_control_node[2026-09-04 00:20:49.071] [info] Received new action goal ×2 + 12.52sINFOros2_control_node[2026-09-04 00:20:49.071] [info] Accepted new action goal ×2 + 13.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349730 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349730 ms (missed cycles : 2).[0m ×2 + 14.01sINFOobjective_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 + 14.01sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.01sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.02sERRORobjective_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: 1788481250.57650137 seconds ×3 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098987 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098987 ms (missed cycles : 4).[0m ×2 + 14.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788481251.38673353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 15.01sINFOros2_control_node[2026-09-04 00:20:51.562] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-04 00:20:51.562] [info] Accepted new action goal ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745292 ms (missed cycles : 5). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745292 ms (missed cycles : 5).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769212 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769212 ms (missed cycles : 2).[0m ×2 + 17.53sINFOros2_control_node[2026-09-04 00:20:54.081] [info] Received new action goal ×2 + 17.53sINFOros2_control_node[2026-09-04 00:20:54.081] [info] Accepted new action goal ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546941 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546941 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655651 ms (missed cycles : 2).[0m ×2 + 0.56sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315596 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315596 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943567 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943567 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788481421.45004964 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442385 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442385 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.47sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.47sINFOobjective_server_nodecaller: ×8 + 3.47sINFOobjective_server_nodetype: 0 ×8 + 3.47sINFOobjective_server_nodename: "" ×8 + 3.47sINFOobjective_server_nodeinstance_id: "" ×8 + 3.47sINFOobjective_server_node ×8 + 3.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788481422.10078430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:23:42.225] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:23:42.225] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386361 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386361 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239704 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239704 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017912 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017912 ms (missed cycles : 2).[0m ×2 + 6.80sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558851 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558851 ms (missed cycles : 4).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169910 ms (missed cycles : 4). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169910 ms (missed cycles : 4).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944425 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944425 ms (missed cycles : 2).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 13.89sINFOobjective_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 + 13.89sERRORobjective_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: 1788481432.46103334 seconds ×3 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 15.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.23sINFOobjective_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 + 15.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 15.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.77sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.93sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 15.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.94sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 15.94sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460410 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460410 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410536 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410536 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175944 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175944 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.51sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 2.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.52sINFOros2_control_node[2026-09-04 00:19:53.001] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-09-04 00:19:53.001] [info] Accepted new action goal ×2 + 2.98sINFOobjective_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 + 2.99sINFOros2_control_node[2026-09-04 00:19:53.465] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-09-04 00:19:53.465] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1788481193.48214912 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865892 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865892 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.54sINFOobjective_server_nodecaller: ×6 + 3.54sINFOobjective_server_nodetype: 0 ×6 + 3.54sINFOobjective_server_nodename: "" ×6 + 3.54sINFOobjective_server_nodeinstance_id: "" ×6 + 3.54sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788481194.08967876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNros2_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 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-04 00:19:54.303] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-04 00:19:54.303] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449012 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449012 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426826 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426826 ms (missed cycles : 2).[0m ×2 + 5.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 6.11sINFOros2_control_node[2026-09-04 00:19:56.584] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-09-04 00:19:56.584] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754316 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754316 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.636724 ms (missed cycles : 9). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.636724 ms (missed cycles : 9).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063962 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063962 ms (missed cycles : 3).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920100 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920100 ms (missed cycles : 4).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800326 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800326 ms (missed cycles : 2).[0m ×2 + 10.52sWARNros2_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 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179389 ms (missed cycles : 5). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179389 ms (missed cycles : 5).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 13.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 14.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 15.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.57sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 15.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.59sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 15.59sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 16.72sWARNros2_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 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 57 warnings · 2320 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481388.92691946 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788481389.64503789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126506 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126506 ms (missed cycles : 3).[0m ×2 + 8.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.58sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279514 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279514 ms (missed cycles : 3).[0m ×2 + 8.86sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (1.91e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 1 iterations (0.00263348 s). ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.18sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.20sINFOros2_control_node[2026-09-04 00:23:14.832] [info] Received new action goal ×2 + 9.20sINFOros2_control_node[2026-09-04 00:23:14.832] [info] Accepted new action goal ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763735 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763735 ms (missed cycles : 4).[0m ×2 + 10.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542348 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542348 ms (missed cycles : 3).[0m ×2 + 11.50sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 11.50sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 13.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.27sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 13.27sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 14.33sINFOobjective_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 + 14.33sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 14.35sERRORobjective_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: 1788481399.97971749 seconds ×3 + 14.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 15.19sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 16.36sWARNros2_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 + 17.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 54 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338607 ms (missed cycles : 4). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338607 ms (missed cycles : 4).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017241 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017241 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849022 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849022 ms (missed cycles : 2).[0m ×2 + 9.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118676 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118676 ms (missed cycles : 3).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187023 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187023 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057001 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057001 ms (missed cycles : 3).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335894 ms (missed cycles : 4). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335894 ms (missed cycles : 4).[0m ×2 + 13.84sERRORobjective_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: 1788481410.97016525 seconds ×3 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788481411.56809306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 14.71sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.72sINFOros2_control_node[2026-09-04 00:23:31.857] [info] Received new action goal ×2 + 14.72sINFOros2_control_node[2026-09-04 00:23:31.858] [info] Accepted new action goal ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781260 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781260 ms (missed cycles : 2).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695987 ms (missed cycles : 6). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695987 ms (missed cycles : 6).[0m ×2 + 15.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181261 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181261 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.76sINFOobjective_server_nodecaller: ×12 + 0.76sINFOobjective_server_nodetype: 0 ×12 + 0.76sINFOobjective_server_nodename: "" ×12 + 0.76sINFOobjective_server_nodeinstance_id: "" ×12 + 0.76sINFOobjective_server_node ×12 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444821 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444821 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128532 ms (missed cycles : 4). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128532 ms (missed cycles : 4).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862473 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862473 ms (missed cycles : 3).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498835 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498835 ms (missed cycles : 2).[0m ×2 + 10.05sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 10.07sINFOros2_control_node[2026-09-04 00:19:49.670] [info] Received new action goal ×2 + 10.07sINFOros2_control_node[2026-09-04 00:19:49.670] [info] Accepted new action goal ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460410 ms (missed cycles : 6). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460410 ms (missed cycles : 6).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410536 ms (missed cycles : 5). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410536 ms (missed cycles : 5).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175944 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175944 ms (missed cycles : 2).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.40sINFOros2_control_node[2026-09-04 00:19:53.001] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-09-04 00:19:53.001] [info] Accepted new action goal ×2 + 13.86sINFOobjective_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 + 13.87sINFOros2_control_node[2026-09-04 00:19:53.465] [info] Got request to cancel active goal. ×2 + 13.87sINFOros2_control_node[2026-09-04 00:19:53.465] [info] Canceling active goal... ×2 + 13.88sERRORobjective_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: 1788481193.48214912 seconds ×3 + 13.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865892 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865892 ms (missed cycles : 3).[0m ×2 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788481194.08967876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 14.71sINFOros2_control_node[2026-09-04 00:19:54.303] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-04 00:19:54.303] [info] Accepted new action goal ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449012 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449012 ms (missed cycles : 3).[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426826 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426826 ms (missed cycles : 2).[0m ×2 + 16.97sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 16.97sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.99sINFOros2_control_node[2026-09-04 00:19:56.584] [info] Received new action goal ×2 + 16.99sINFOros2_control_node[2026-09-04 00:19:56.584] [info] Accepted new action goal ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754316 ms (missed cycles : 3). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754316 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 58 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860614 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860614 ms (missed cycles : 2).[0m ×2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.42sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.387015 ms (missed cycles : 6). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.387015 ms (missed cycles : 6).[0m ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 1 iterations (0.00295024 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 9.09sINFOobjective_server_nodeFound path in 2 iterations (0.00560843 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 1 iterations (0.00378252 s). ×2 + 9.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 9.55sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.69sINFOros2_control_node[2026-09-04 00:20:35.431] [info] Received new action goal ×2 + 9.69sINFOros2_control_node[2026-09-04 00:20:35.431] [info] Accepted new action goal ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111008 ms (missed cycles : 4). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111008 ms (missed cycles : 4).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267152 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267152 ms (missed cycles : 2).[0m ×2 + 11.43sWARNros2_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 + 11.96sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094768 ms (missed cycles : 4). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094768 ms (missed cycles : 4).[0m ×2 + 12.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.23sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788481237.99677777 seconds ×3 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020400 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020400 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536057 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536057 ms (missed cycles : 3).[0m ×2 + 14.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.36sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788481240.10302734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 14.56sINFOros2_control_node[2026-09-04 00:20:40.298] [info] Received new action goal ×2 + 14.56sINFOros2_control_node[2026-09-04 00:20:40.298] [info] Accepted new action goal ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993612 ms (missed cycles : 4). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993612 ms (missed cycles : 4).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463067 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463067 ms (missed cycles : 2).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087629 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087629 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2).[0m ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788481217.02110934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788481217.64002395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788481217.72016096 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788481218.36375165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Accepted new action goal ×2 + 4.33sWARNros2_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2).[0m ×2 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.21sINFOros2_control_node[2026-09-04 00:20:21.837] [info] Received new action goal ×2 + 7.21sINFOros2_control_node[2026-09-04 00:20:21.837] [info] Accepted new action goal ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010274 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010274 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016441 ms (missed cycles : 5). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016441 ms (missed cycles : 5).[0m ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 9.56sINFOros2_control_node[2026-09-04 00:20:24.185] [info] Received new action goal ×2 + 9.56sINFOros2_control_node[2026-09-04 00:20:24.185] [info] Accepted new action goal ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729504 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729504 ms (missed cycles : 3).[0m ×2 + 10.38sWARNros2_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 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 11.90sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 11.91sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 13.93sINFOobjective_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 + 13.94sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 13.94sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 13.95sERRORobjective_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: 1788481228.57670498 seconds ×3 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 14.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.78sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 59 warnings · 410 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.56sERRORobjective_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: 1788481432.46103334 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.15sINFOobjective_server_nodecaller: ×14 + 2.15sINFOobjective_server_nodetype: 0 ×14 + 2.15sINFOobjective_server_nodename: "" ×14 + 2.15sINFOobjective_server_nodeinstance_id: "" ×14 + 2.15sINFOobjective_server_node ×14 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.60sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.91sINFOros2_control_node[2026-09-04 00:23:57.815] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-04 00:23:57.815] [info] Accepted new action goal ×2 + 6.91sINFOros2_control_node[2026-09-04 00:23:57.815] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329780 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329780 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338601 ms (missed cycles : 6). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338601 ms (missed cycles : 6).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959120 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959120 ms (missed cycles : 2).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525248 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525248 ms (missed cycles : 2).[0m ×2 + 10.94sWARNros2_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 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697565 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697565 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5).[0m ×2 + 13.63sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Got request to cancel active goal. ×2 + 13.63sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Canceling active goal... ×2 + 13.63sERRORobjective_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: 1788481444.53614640 seconds ×3 + 14.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481445.13184476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2).[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481446.16196275 seconds ×3 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2).[0m ×2 + 15.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788481446.74685597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.84sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788481446.74873161 seconds ×3 + 16.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 16.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788481447.33775806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788481447.33836842 seconds ×3 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4).[0m ×2 + 17.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481448.09408164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 51 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187023 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187023 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057001 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057001 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335894 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335894 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_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 + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481410.97016525 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788481411.56809306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.19sINFOros2_control_node[2026-09-04 00:23:31.857] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-04 00:23:31.858] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781260 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781260 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695987 ms (missed cycles : 6). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695987 ms (missed cycles : 6).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181261 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181261 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735278 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735278 ms (missed cycles : 2).[0m ×2 + 7.19sINFOros2_control_node[2026-09-04 00:23:35.864] [info] Received new action goal ×2 + 7.19sINFOros2_control_node[2026-09-04 00:23:35.864] [info] Accepted new action goal ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732218 ms (missed cycles : 5). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732218 ms (missed cycles : 5).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195613 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195613 ms (missed cycles : 2).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655651 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655651 ms (missed cycles : 2).[0m ×2 + 10.46sWARNros2_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 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315596 ms (missed cycles : 5). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315596 ms (missed cycles : 5).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943567 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943567 ms (missed cycles : 3).[0m ×2 + 12.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788481421.45004964 seconds ×3 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442385 ms (missed cycles : 4). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442385 ms (missed cycles : 4).[0m ×2 + 13.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.37sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.43sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788481422.10078430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 13.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.55sINFOros2_control_node[2026-09-04 00:23:42.225] [info] Received new action goal ×2 + 13.56sINFOros2_control_node[2026-09-04 00:23:42.225] [info] Accepted new action goal ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386361 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386361 ms (missed cycles : 3).[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239704 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239704 ms (missed cycles : 2).[0m ×2 + 15.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542219 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542219 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037694 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037694 ms (missed cycles : 3).[0m ×2 + 1.31sWARNros2_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 + 1.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788481262.64007783 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295133 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295133 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788481263.30745101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788481263.37759423 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922175 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922175 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 6.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.99sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.14sINFOobjective_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 + 7.15sINFOobjective_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 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.47sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 7.49sWARNros2_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 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 691 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.05sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.05sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.05sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.05sWARNros2_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 + 0.05sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.05sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.05sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.05sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.05sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.05sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.05sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.06sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.06sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.06sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.06sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.06sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.06sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.06sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.06sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.06sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.06sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.06sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.06sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.06sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.06sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.06sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.06sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.06sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.06sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.06sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.06sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.30sINFOforce_torque_sensor_broadcasterconfigure successful + 0.30sINFOros2_control_nodeconfigure successful[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.31sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcomponent_container_mt[2026-09-04 00:19:35.626] [moveit_pro_license] [info] ×2 + 0.35sINFOcomponent_container_mt************************************************* ×4 + 0.35sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.35sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.42sWARNobjective_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 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537274 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537274 ms (missed cycles : 2).[0m ×2 + 0.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.62sINFOros2_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 + 0.62sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.62sWARNros2_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 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.65sINFOros2-2process has finished cleanly [pid 7351] ×2 + 0.70sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.70sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.70sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.70sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.70sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.71sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.71sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.71sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.71sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.71sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.72sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.72sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.04sINFOros2-5process has finished cleanly [pid 7365] ×2 + 1.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 1.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 1.17sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.17sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.20sINFOros2_control_node[2026-09-04 00:19:36.475] [info] Controller state will be published at 20 Hz. ×2 + 1.20sINFOros2_control_node[2026-09-04 00:19:36.476] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798874 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798874 ms (missed cycles : 4).[0m ×2 + 1.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 1.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 1.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOros2-8process has finished cleanly [pid 7368] ×2 + 1.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.85sINFOros2-3process has finished cleanly [pid 7352] ×2 + 1.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 1.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 1.96sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.96sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.96sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.96sINFOros2_control_node[2026-09-04 00:19:37.244] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.96sINFOros2_control_node[2026-09-04 00:19:37.244] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.99sINFOros2_control_node[2026-09-04 00:19:37.267] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.99sINFOros2_control_node[2026-09-04 00:19:37.267] [info] Controller state will be published at 50 Hz. ×2 + 1.99sINFOros2_control_node[2026-09-04 00:19:37.273] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.29sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.29sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.34sINFOros2-6process has finished cleanly [pid 7366] ×2 + 2.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 2.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 2.40sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.40sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.43sINFOros2_control_node[2026-09-04 00:19:37.710] [info] Controller state will be published at 10 Hz. ×2 + 2.43sINFOros2_control_node[2026-09-04 00:19:37.711] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 2.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 2.71sINFOros2-7process has finished cleanly [pid 7367] ×2 + 2.71sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.71sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.71sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.71sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.71sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.71sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.73sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.73sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.74sINFOobjective_server_nodecaller: ×14 + 2.74sINFOobjective_server_nodetype: 0 ×14 + 2.74sINFOobjective_server_nodename: "" ×14 + 2.74sINFOobjective_server_nodeinstance_id: "" ×14 + 2.74sINFOobjective_server_node ×14 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481178.07631516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481178.08660865 seconds ×3 + 3.06sINFOros2-4process has finished cleanly [pid 7364] ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_control_nodeCamera render tick took 1.85 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 + 4.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 6.80sWARNros2_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 + 7.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 7.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.05sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.07sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 8.07sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 32 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525248 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697565 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697565 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5).[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[2026-09-04 00:24:04.531] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481444.53614640 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.76sINFOobjective_server_nodecaller: ×8 + 3.76sINFOobjective_server_nodetype: 0 ×8 + 3.76sINFOobjective_server_nodename: "" ×8 + 3.76sINFOobjective_server_nodeinstance_id: "" ×8 + 3.76sINFOobjective_server_node ×8 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481445.13184476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481446.16196275 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788481446.74685597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788481446.74873161 seconds ×3 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788481447.33775806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788481447.33836842 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4).[0m ×2 + 6.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481448.09408164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099002 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099002 ms (missed cycles : 3).[0m ×2 + 8.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788481449.56421494 seconds ×3 + 8.29sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338611 ms (missed cycles : 3). | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688112 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688112 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542219 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542219 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037694 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037694 ms (missed cycles : 3).[0m ×2 + 2.47sWARNros2_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 + 3.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788481262.64007783 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295133 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295133 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788481263.30745101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788481263.37759423 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922175 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922175 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.58sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sERRORobjective_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: 1788481432.46103334 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.45sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 + 6.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:20:13.965] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:20:13.965] [info] Accepted new action goal ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2).[0m ×2 + 1.77sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Accepted new action goal ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788481217.02110934 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788481217.64002395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788481217.72016096 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788481218.36375165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.52sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Accepted new action goal ×2 + 4.99sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179389 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179389 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.10sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 5.23sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7352] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [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[2026-09-04 00:19:37.244] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-09-04 00:19:37.244] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.267] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.267] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.273] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.51sINFOros2-6process has finished cleanly [pid 7366] ×2 + 0.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-09-04 00:19:37.710] [info] Controller state will be published at 10 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-04 00:19:37.711] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.89sINFOros2-7process has finished cleanly [pid 7367] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481178.07631516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481178.08660865 seconds ×3 + 1.24sINFOros2-4process has finished cleanly [pid 7364] ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 2.50sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 4.98sWARNros2_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 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_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 + 2.11sERRORobjective_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: 1788481432.46103334 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.70sINFOobjective_server_nodecaller: ×6 + 2.70sINFOobjective_server_nodetype: 0 ×6 + 2.70sINFOobjective_server_nodename: "" ×6 + 2.70sINFOobjective_server_nodeinstance_id: "" ×6 + 2.70sINFOobjective_server_node ×6 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.42sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.16sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Got request to cancel active goal. ×2 + 1.12sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Canceling active goal... ×2 + 1.12sERRORobjective_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: 1788481444.53614640 seconds ×3 + 1.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.67sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.67sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.67sINFOobjective_server_nodecaller: ×8 + 1.67sINFOobjective_server_nodetype: 0 ×8 + 1.67sINFOobjective_server_nodename: "" ×8 + 1.67sINFOobjective_server_nodeinstance_id: "" ×8 + 1.67sINFOobjective_server_node ×8 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481445.13184476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481446.16196275 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788481446.74685597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.33sINFOobjective_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 + 3.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788481446.74873161 seconds ×3 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788481447.33775806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788481447.33836842 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481448.09408164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099002 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099002 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788481449.56421494 seconds ×3 + 6.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338611 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338611 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129130 ms (missed cycles : 6). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129130 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Got request to cancel active goal. ×2 + 1.12sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Canceling active goal... ×2 + 1.12sERRORobjective_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: 1788481444.53614640 seconds ×3 + 1.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.67sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.67sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.67sINFOobjective_server_nodecaller: ×8 + 1.67sINFOobjective_server_nodetype: 0 ×8 + 1.67sINFOobjective_server_nodename: "" ×8 + 1.67sINFOobjective_server_nodeinstance_id: "" ×8 + 1.67sINFOobjective_server_node ×8 + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481445.13184476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481446.16196275 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788481446.74685597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.33sINFOobjective_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 + 3.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788481446.74873161 seconds ×3 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788481447.33775806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788481447.33836842 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481448.09408164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099002 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099002 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788481449.56421494 seconds ×3 + 6.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338611 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338611 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481388.92691946 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788481389.64503789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2).[0m ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788481217.02110934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788481217.64002395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788481217.72016096 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788481218.36375165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Accepted new action goal ×2 + 4.33sWARNros2_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179389 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179389 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.10sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 5.23sWARNros2_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 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179389 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179389 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.10sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 5.23sWARNros2_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 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.09sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.09sINFOobjective_server_nodecaller: ×4 + 2.09sINFOobjective_server_nodetype: 0 ×4 + 2.09sINFOobjective_server_nodename: "" ×4 + 2.09sINFOobjective_server_nodeinstance_id: "" ×4 + 2.09sINFOobjective_server_node ×4 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.09sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.09sINFOobjective_server_nodecaller: ×4 + 2.09sINFOobjective_server_nodetype: 0 ×4 + 2.09sINFOobjective_server_nodename: "" ×4 + 2.09sINFOobjective_server_nodeinstance_id: "" ×4 + 2.09sINFOobjective_server_node ×4 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.09sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.09sINFOobjective_server_nodecaller: ×4 + 2.09sINFOobjective_server_nodetype: 0 ×4 + 2.09sINFOobjective_server_nodename: "" ×4 + 2.09sINFOobjective_server_nodeinstance_id: "" ×4 + 2.09sINFOobjective_server_node ×4 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225808 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719298 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481204.46032691 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094543 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.09sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.09sINFOobjective_server_nodecaller: ×4 + 2.09sINFOobjective_server_nodetype: 0 ×4 + 2.09sINFOobjective_server_nodename: "" ×4 + 2.09sINFOobjective_server_nodeinstance_id: "" ×4 + 2.09sINFOobjective_server_node ×4 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788481205.15660214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788481205.24673605 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788481205.86680460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-04 00:20:06.070] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708277 ms (missed cycles : 4).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.914297 ms (missed cycles : 9).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782725 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2).[0m ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788481217.02110934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788481217.64002395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788481217.72016096 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788481218.36375165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Accepted new action goal ×2 + 4.33sWARNros2_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2).[0m ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788481217.02110934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788481217.64002395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788481217.72016096 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788481218.36375165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Accepted new action goal ×2 + 4.33sWARNros2_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2).[0m ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788481217.02110934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788481217.64002395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788481217.72016096 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788481218.36375165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Accepted new action goal ×2 + 4.33sWARNros2_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801382 ms (missed cycles : 4).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324975 ms (missed cycles : 2).[0m ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-04 00:20:15.734] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166677 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788481217.02110934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788481217.64002395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788481217.72016096 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985915 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788481218.36375165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 00:20:18.488] [info] Accepted new action goal ×2 + 4.33sWARNros2_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216170 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819162 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912064 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-04 00:20:26.535] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343130 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527451 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 00:20:28.564] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481228.57670498 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802434 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788481229.20455837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:20:29.399] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388045 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416113 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799517 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799517 ms (missed cycles : 2).[0m ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 0.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.88sINFOobjective_server_nodeFound path in 1 iterations (0.00439171 s). ×2 + 1.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783549 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783549 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.12sINFOros2_control_node[2026-09-04 00:20:48.669] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-04 00:20:48.669] [info] Accepted new action goal ×2 + 1.52sINFOros2_control_node[2026-09-04 00:20:49.071] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-09-04 00:20:49.071] [info] Accepted new action goal ×2 + 2.43sWARNros2_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 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349730 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349730 ms (missed cycles : 2).[0m ×2 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_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 + 3.01sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.01sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.03sERRORobjective_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: 1788481250.57650137 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098987 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098987 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788481251.38673353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-09-04 00:20:51.562] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 00:20:51.562] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745292 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745292 ms (missed cycles : 5).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769212 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769212 ms (missed cycles : 2).[0m ×2 + 6.53sINFOros2_control_node[2026-09-04 00:20:54.081] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-04 00:20:54.081] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546941 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546941 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688112 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688112 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542219 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542219 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037694 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037694 ms (missed cycles : 3).[0m ×2 + 2.47sWARNros2_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 + 3.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788481262.64007783 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295133 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295133 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788481263.30745101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788481263.37759423 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922175 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922175 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.58sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788481263.97210574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 00:21:04.106] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444374 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985286 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788481266.11224437 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453058 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788481267.75574541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782784 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 00:21:08.164] [info] Accepted new action goal ×2 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502801 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971187 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802214 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969754 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969754 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847023 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847023 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788481322.41215396 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.87sINFOobjective_server_nodename: "" ×2 + 2.87sINFOobjective_server_nodeinstance_id: "" ×2 + 2.87sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788481323.00874615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.09sINFOros2_control_node[2026-09-04 00:22:03.172] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-04 00:22:03.172] [info] Accepted new action goal ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583473 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583473 ms (missed cycles : 4).[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668034 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668034 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_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 + 4.37sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245606 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245606 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481388.92691946 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788481389.64503789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481388.92691946 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788481389.64503789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481388.92691946 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788481389.64503789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033681 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765776 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731984 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788481388.92691946 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222758 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788481389.64503789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 00:23:09.849] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889024 ms (missed cycles : 2).[0m ×2 + 4.43sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780210 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884237 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:23:17.134] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646712 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137758 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 00:23:18.898] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445877 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-04 00:23:19.965] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788481399.97971749 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788481400.63848519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 00:23:20.816] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044974 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834348 ms (missed cycles : 2).[0m ×2 + 4.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394256 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187023 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187023 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057001 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057001 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335894 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335894 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_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 + 2.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481410.97016525 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788481411.56809306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.19sINFOros2_control_node[2026-09-04 00:23:31.857] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-04 00:23:31.858] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781260 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781260 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695987 ms (missed cycles : 6). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695987 ms (missed cycles : 6).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181261 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181261 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655651 ms (missed cycles : 2).[0m ×2 + 0.56sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315596 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315596 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943567 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943567 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788481421.45004964 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442385 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442385 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788481422.10078430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.66sINFOros2_control_node[2026-09-04 00:23:42.225] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 00:23:42.225] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386361 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386361 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239704 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239704 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sERRORobjective_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: 1788481432.46103334 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.45sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sERRORobjective_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: 1788481432.46103334 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.45sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sERRORobjective_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: 1788481432.46103334 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.45sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931263 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834414 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sERRORobjective_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: 1788481432.46103334 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.45sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_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: 1788481432.46103334 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.15sINFOobjective_server_nodecaller: ×6 + 2.15sINFOobjective_server_nodetype: 0 ×6 + 2.15sINFOobjective_server_nodename: "" ×6 + 2.15sINFOobjective_server_nodeinstance_id: "" ×6 + 2.15sINFOobjective_server_node ×6 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.60sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_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: 1788481432.46103334 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.15sINFOobjective_server_nodecaller: ×6 + 2.15sINFOobjective_server_nodetype: 0 ×6 + 2.15sINFOobjective_server_nodename: "" ×6 + 2.15sINFOobjective_server_nodeinstance_id: "" ×6 + 2.15sINFOobjective_server_node ×6 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.60sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057549 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_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: 1788481432.46103334 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891874 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.15sINFOobjective_server_nodecaller: ×6 + 2.15sINFOobjective_server_nodetype: 0 ×6 + 2.15sINFOobjective_server_nodename: "" ×6 + 2.15sINFOobjective_server_nodeinstance_id: "" ×6 + 2.15sINFOobjective_server_node ×6 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788481433.09652281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788481433.17663884 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017961 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788481433.76996207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788481433.79242921 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788481434.39140415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.60sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 00:23:54.505] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924354 ms (missed cycles : 5).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189869 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525248 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697565 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697565 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5).[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[2026-09-04 00:24:04.531] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481444.53614640 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.76sINFOobjective_server_nodecaller: ×8 + 3.76sINFOobjective_server_nodetype: 0 ×8 + 3.76sINFOobjective_server_nodename: "" ×8 + 3.76sINFOobjective_server_nodeinstance_id: "" ×8 + 3.76sINFOobjective_server_node ×8 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481445.13184476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481446.16196275 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788481446.74685597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788481446.74873161 seconds ×3 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788481447.33775806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788481447.33836842 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4).[0m ×2 + 6.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481448.09408164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525248 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697565 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697565 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409214 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772233 ms (missed cycles : 5).[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[2026-09-04 00:24:04.531] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-04 00:24:04.531] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788481444.53614640 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.76sINFOobjective_server_nodecaller: ×8 + 3.76sINFOobjective_server_nodetype: 0 ×8 + 3.76sINFOobjective_server_nodename: "" ×8 + 3.76sINFOobjective_server_nodeinstance_id: "" ×8 + 3.76sINFOobjective_server_node ×8 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481445.13184476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061230 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481446.16196275 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025302 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.38sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788481446.74685597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788481446.74873161 seconds ×3 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788481447.33775806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788481447.33836842 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502979 ms (missed cycles : 4).[0m ×2 + 6.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481448.09408164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.3s | 42 warnings · 749 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/2026-09-04-00-19-30-815336-c341fc3ea218-7302 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727736 ms (missed cycles : 4). + 0.85sINFOros2_control_node-1process started with pid [7350] ×2 + 0.85sINFOmove_group-9process started with pid [7391] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7392] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7393] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7394] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7395] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7396] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7397] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7398] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7399] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7400] ×2 + 0.85sINFOweb_bridge-19process started with pid [7401] ×2 + 0.85sINFOtf2_web_republisher_node-20process started with pid [7477] ×2 + 0.85sINFOvideo_server-21process started with pid [7478] ×2 + 0.85sINFOweb_bridge_auth_proxy-22process started with pid [7479] ×2 + 0.85sINFOweb_video_auth_proxy-23process started with pid [7480] ×2 + 0.85sINFOros2-2process started with pid [7351] ×2 + 0.85sINFOros2-3process started with pid [7352] ×2 + 0.85sINFOros2-4process started with pid [7364] ×2 + 0.85sINFOros2-5process started with pid [7365] ×2 + 0.85sINFOros2-6process started with pid [7366] ×2 + 0.85sINFOros2-7process started with pid [7367] ×2 + 0.85sINFOros2-8process started with pid [7368] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_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 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727736 ms (missed cycles : 4).[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOvideo_server2026/09/04 00:19:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.08sINFOvideo_server2026/09/04 00:19:32 INF configuration loaded from /tmp/moveit-webrtc-wo0e5fg8/mediamtx.yml ×2 + 1.08sINFOvideo_server2026/09/04 00:19:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.08sINFOvideo_server2026/09/04 00:19:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.59sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.94sINFOmove_group[2026-09-04 00:19:33.151] [moveit_pro_license] [info] ×2 + 1.94sINFOmove_group************************************************* ×4 + 1.94sINFOmove_group* MoveIt Pro License ×2 + 1.94sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.12sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.12sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.12sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.14sINFOros2_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 + 2.14sINFOros2_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 + 2.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176132 ms (missed cycles : 2). + 2.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176132 ms (missed cycles : 2).[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.39sINFOmove_group ×4 + 2.39sINFOmove_group[92mYou can start planning now![0m ×2 + 2.46sINFOwaypoint_manager_node[2026-09-04 00:19:33.677] [moveit_pro_license] [info] ×2 + 2.46sINFOwaypoint_manager_node************************************************* ×4 + 2.46sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.46sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.56sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.61sINFOobjective_server_node[2026-09-04 00:19:34.827] [moveit_pro_license] [info] ×2 + 3.61sINFOobjective_server_node************************************************* ×4 + 3.61sINFOobjective_server_node* MoveIt Pro License ×2 + 3.61sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.75sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.75sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.75sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.75sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.75sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.75sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.75sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.75sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.07sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.07sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.12sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.12sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.12sWARNros2_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 + 4.12sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.12sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.12sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.12sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.12sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.12sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.12sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.12sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.12sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.12sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.35sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.35sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.35sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 4.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 4.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.36sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.37sINFOforce_torque_sensor_broadcasterconfigure successful + 4.37sINFOros2_control_nodeconfigure successful[0m ×2 + 4.37sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.37sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.38sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.41sINFOcomponent_container_mt[2026-09-04 00:19:35.626] [moveit_pro_license] [info] ×2 + 4.41sINFOcomponent_container_mt************************************************* ×4 + 4.41sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.41sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.48sWARNobjective_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 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537274 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537274 ms (missed cycles : 2).[0m ×2 + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.68sINFOros2_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 + 4.68sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.68sWARNros2_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 + 4.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.69sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 4.69sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 4.72sINFOros2-2process has finished cleanly [pid 7351] ×2 + 4.77sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.77sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.77sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.77sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.77sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.77sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.77sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.77sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.78sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.78sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.78sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.79sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.10sINFOros2-5process has finished cleanly [pid 7365] ×2 + 5.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 5.20sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 5.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.24sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.26sINFOros2_control_node[2026-09-04 00:19:36.475] [info] Controller state will be published at 20 Hz. ×2 + 5.26sINFOros2_control_node[2026-09-04 00:19:36.476] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798874 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798874 ms (missed cycles : 4).[0m ×2 + 5.54sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.54sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 5.54sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 5.55sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.55sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.58sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.58sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.58sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.58sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.58sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.58sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.59sINFOros2-8process has finished cleanly [pid 7368] ×2 + 5.59sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.59sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.89sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.89sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.89sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.89sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.91sINFOros2-3process has finished cleanly [pid 7352] ×2 + 5.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 5.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 6.03sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.03sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.03sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.03sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.03sINFOros2_control_node[2026-09-04 00:19:37.244] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.03sINFOros2_control_node[2026-09-04 00:19:37.244] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.05sINFOros2_control_node[2026-09-04 00:19:37.267] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.05sINFOros2_control_node[2026-09-04 00:19:37.267] [info] Controller state will be published at 50 Hz. ×2 + 6.06sINFOros2_control_node[2026-09-04 00:19:37.273] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.40sINFOros2-6process has finished cleanly [pid 7366] ×2 + 6.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 6.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 6.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.50sINFOros2_control_node[2026-09-04 00:19:37.710] [info] Controller state will be published at 10 Hz. ×2 + 6.50sINFOros2_control_node[2026-09-04 00:19:37.711] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 6.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 6.78sINFOros2-7process has finished cleanly [pid 7367] ×2 + 6.78sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.78sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.79sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.79sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.81sINFOobjective_server_nodecaller: ×10 + 6.81sINFOobjective_server_nodetype: 0 ×10 + 6.81sINFOobjective_server_nodename: "" ×10 + 6.81sINFOobjective_server_nodeinstance_id: "" ×10 + 6.81sINFOobjective_server_node ×10 + 6.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481178.07631516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481178.08660865 seconds ×3 + 7.13sINFOros2-4process has finished cleanly [pid 7364] ×2 + 7.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.42sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 8.38sWARNros2_control_nodeCamera render tick took 1.85 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 + 8.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 9.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 9.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 10.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 10.87sWARNros2_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 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7364] ×2 + 0.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.29sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.29sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.29sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.29sINFOobjective_server_nodecaller: ×12 + 0.29sINFOobjective_server_nodetype: 0 ×12 + 0.29sINFOobjective_server_nodename: "" ×12 + 0.29sINFOobjective_server_nodeinstance_id: "" ×12 + 0.29sINFOobjective_server_node ×12 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 1.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 3.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 7.02sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.52sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 7.52sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 437 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7366] ×2 + 0.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-04 00:19:37.710] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-04 00:19:37.711] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.42sINFOros2-7process has finished cleanly [pid 7367] ×2 + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.43sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.45sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.45sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.45sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.45sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.45sINFOobjective_server_nodecaller: ×14 + 0.45sINFOobjective_server_nodetype: 0 ×14 + 0.45sINFOobjective_server_nodename: "" ×14 + 0.45sINFOobjective_server_nodeinstance_id: "" ×14 + 0.45sINFOobjective_server_node ×14 + 0.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481178.07631516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481178.08660865 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.77sINFOros2-4process has finished cleanly [pid 7364] ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 4.51sWARNros2_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 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.78sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 161 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/2026-09-04-00-19-30-815336-c341fc3ea218-7302 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727736 ms (missed cycles : 4). + 0.85sINFOros2_control_node-1process started with pid [7350] ×2 + 0.85sINFOmove_group-9process started with pid [7391] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7392] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7393] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7394] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7395] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7396] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7397] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7398] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7399] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7400] ×2 + 0.85sINFOweb_bridge-19process started with pid [7401] ×2 + 0.85sINFOtf2_web_republisher_node-20process started with pid [7477] ×2 + 0.85sINFOvideo_server-21process started with pid [7478] ×2 + 0.85sINFOweb_bridge_auth_proxy-22process started with pid [7479] ×2 + 0.85sINFOweb_video_auth_proxy-23process started with pid [7480] ×2 + 0.85sINFOros2-2process started with pid [7351] ×2 + 0.85sINFOros2-3process started with pid [7352] ×2 + 0.85sINFOros2-4process started with pid [7364] ×2 + 0.85sINFOros2-5process started with pid [7365] ×2 + 0.85sINFOros2-6process started with pid [7366] ×2 + 0.85sINFOros2-7process started with pid [7367] ×2 + 0.85sINFOros2-8process started with pid [7368] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_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 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727736 ms (missed cycles : 4).[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOvideo_server2026/09/04 00:19:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.08sINFOvideo_server2026/09/04 00:19:32 INF configuration loaded from /tmp/moveit-webrtc-wo0e5fg8/mediamtx.yml ×2 + 1.08sINFOvideo_server2026/09/04 00:19:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.08sINFOvideo_server2026/09/04 00:19:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.59sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.94sINFOmove_group[2026-09-04 00:19:33.151] [moveit_pro_license] [info] ×2 + 1.94sINFOmove_group************************************************* ×4 + 1.94sINFOmove_group* MoveIt Pro License ×2 + 1.94sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.12sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.12sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.12sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.14sINFOros2_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 + 2.14sINFOros2_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 + 2.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176132 ms (missed cycles : 2). + 2.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176132 ms (missed cycles : 2).[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.39sINFOmove_group ×4 + 2.39sINFOmove_group[92mYou can start planning now![0m ×2 + 2.46sINFOwaypoint_manager_node[2026-09-04 00:19:33.677] [moveit_pro_license] [info] ×2 + 2.46sINFOwaypoint_manager_node************************************************* ×4 + 2.46sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.46sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.56sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.61sINFOobjective_server_node[2026-09-04 00:19:34.827] [moveit_pro_license] [info] ×2 + 3.61sINFOobjective_server_node************************************************* ×4 + 3.61sINFOobjective_server_node* MoveIt Pro License ×2 + 3.61sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 19 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7352] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [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[2026-09-04 00:19:37.244] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-09-04 00:19:37.244] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.267] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.267] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.273] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.51sINFOros2-6process has finished cleanly [pid 7366] ×2 + 0.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-09-04 00:19:37.710] [info] Controller state will be published at 10 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-04 00:19:37.711] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.89sINFOros2-7process has finished cleanly [pid 7367] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481178.07631516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481178.08660865 seconds ×3 + 1.24sINFOros2-4process has finished cleanly [pid 7364] ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 2.50sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 4.98sWARNros2_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 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 19 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7352] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [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[2026-09-04 00:19:37.244] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-09-04 00:19:37.244] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.267] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.267] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.273] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.51sINFOros2-6process has finished cleanly [pid 7366] ×2 + 0.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-09-04 00:19:37.710] [info] Controller state will be published at 10 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-04 00:19:37.711] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.89sINFOros2-7process has finished cleanly [pid 7367] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481178.07631516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481178.08660865 seconds ×3 + 1.24sINFOros2-4process has finished cleanly [pid 7364] ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 2.50sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 4.98sWARNros2_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 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 19 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7352] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [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[2026-09-04 00:19:37.244] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-09-04 00:19:37.244] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.267] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.267] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-04 00:19:37.273] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.51sINFOros2-6process has finished cleanly [pid 7366] ×2 + 0.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-09-04 00:19:37.710] [info] Controller state will be published at 10 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-04 00:19:37.711] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.89sINFOros2-7process has finished cleanly [pid 7367] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481178.07631516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481178.08660865 seconds ×3 + 1.24sINFOros2-4process has finished cleanly [pid 7364] ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 2.50sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 4.98sWARNros2_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 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 437 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7366] ×2 + 0.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-04 00:19:37.710] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-04 00:19:37.711] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 + 0.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gmug_mr2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a8ebilh1 --params-file /tmp/launch_params_7pw2r4n8 [0m ×2 + 0.42sINFOros2-7process has finished cleanly [pid 7367] ×2 + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.43sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.45sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.45sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.45sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.45sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.45sINFOobjective_server_nodecaller: ×14 + 0.45sINFOobjective_server_nodetype: 0 ×14 + 0.45sINFOobjective_server_nodename: "" ×14 + 0.45sINFOobjective_server_nodeinstance_id: "" ×14 + 0.45sINFOobjective_server_node ×14 + 0.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481178.07631516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481178.08660865 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.77sINFOros2-4process has finished cleanly [pid 7364] ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 4.51sWARNros2_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 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.78sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7364] ×2 + 0.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.29sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.29sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.29sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.29sINFOobjective_server_nodecaller: ×12 + 0.29sINFOobjective_server_nodetype: 0 ×12 + 0.29sINFOobjective_server_nodename: "" ×12 + 0.29sINFOobjective_server_nodeinstance_id: "" ×12 + 0.29sINFOobjective_server_node ×12 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788481178.67927480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151540 ms (missed cycles : 2).[0m ×2 + 1.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 3.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444821 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444821 ms (missed cycles : 2).[0m ×2 | ||||
▾
/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 · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788481179.79439259 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3). + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546118 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.76sINFOobjective_server_nodecaller: ×10 + 0.76sINFOobjective_server_nodetype: 0 ×10 + 0.76sINFOobjective_server_nodename: "" ×10 + 0.76sINFOobjective_server_nodeinstance_id: "" ×10 + 0.76sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788481180.41264701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788481180.47283578 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271381 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481181.12743044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481181.14755177 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481181.73873091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481181.88929296 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860252 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481182.56794000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481182.60805750 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094036 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788481183.21507812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.6887e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:19:43.351] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197130 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252041 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-04 00:19:45.859] [info] Accepted new action goal ×2 | ||||