122
Total objective tests
32
Objectives passed
0
Objectives failed
90
Objectives skipped
8.9s
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 | 165 warnings · 20196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562392 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874838 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874838 ms (missed cycles : 2).[0m ×2 + 1.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654496 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654496 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788483345.70915413 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774337 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774337 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_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: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788483346.30739117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.80sINFOros2_control_node[2026-09-04 00:55:46.481] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 00:55:46.481] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643185 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643185 ms (missed cycles : 4).[0m ×2 + 5.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462436 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462436 ms (missed cycles : 4).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571428 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571428 ms (missed cycles : 2).[0m ×2 + 7.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 7.47sINFOjoint_trajectory_controllerReceived new action goal ×3322 + 7.47sINFOjoint_trajectory_controllerAccepted new action goal ×3322 + 7.47sINFOros2_control_nodeReceived new action goal[0m ×6644 + 7.47sINFOros2_control_nodeAccepted new action goal[0m ×6644 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851420 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851420 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048717 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048717 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679435 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679435 ms (missed cycles : 2).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.161597 ms (missed cycles : 8). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.161597 ms (missed cycles : 8).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981025 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981025 ms (missed cycles : 2).[0m ×2 + 12.13sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.13sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698325 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698325 ms (missed cycles : 2).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492020 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492020 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692042 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692042 ms (missed cycles : 2).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827156 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827156 ms (missed cycles : 2).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867902 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867902 ms (missed cycles : 2).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859970 ms (missed cycles : 2). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859970 ms (missed cycles : 2).[0m ×2 + 18.26sWARNros2_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 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071577 ms (missed cycles : 2). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071577 ms (missed cycles : 2).[0m ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780575 ms (missed cycles : 2). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780575 ms (missed cycles : 2).[0m ×2 + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679857 ms (missed cycles : 2). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679857 ms (missed cycles : 2).[0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703231 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703231 ms (missed cycles : 2).[0m ×2 + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297300 ms (missed cycles : 2). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297300 ms (missed cycles : 2).[0m ×2 + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932270 ms (missed cycles : 2). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932270 ms (missed cycles : 2).[0m ×2 + 24.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718274 ms (missed cycles : 2). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718274 ms (missed cycles : 2).[0m ×2 + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144151 ms (missed cycles : 2). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144151 ms (missed cycles : 2).[0m ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521964 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521964 ms (missed cycles : 2).[0m ×2 + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410734 ms (missed cycles : 3). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410734 ms (missed cycles : 3).[0m ×2 + 29.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679336 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679336 ms (missed cycles : 3).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031599 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031599 ms (missed cycles : 2).[0m ×2 + 31.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271844 ms (missed cycles : 4). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271844 ms (missed cycles : 4).[0m ×2 + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110739 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110739 ms (missed cycles : 2).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259603 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259603 ms (missed cycles : 2).[0m ×2 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198580 ms (missed cycles : 2). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198580 ms (missed cycles : 2).[0m ×2 + 35.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×4 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089813 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089813 ms (missed cycles : 2).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890453 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890453 ms (missed cycles : 2).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850053 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850053 ms (missed cycles : 2).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306848 ms (missed cycles : 2). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306848 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126807 ms (missed cycles : 3). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126807 ms (missed cycles : 3).[0m ×2 + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292543 ms (missed cycles : 2). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292543 ms (missed cycles : 2).[0m ×2 + 41.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101559 ms (missed cycles : 2). + 42.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101559 ms (missed cycles : 2).[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834156 ms (missed cycles : 2). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834156 ms (missed cycles : 2).[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548388 ms (missed cycles : 2). + 44.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548388 ms (missed cycles : 2).[0m ×2 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289474 ms (missed cycles : 2). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289474 ms (missed cycles : 2).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633907 ms (missed cycles : 2). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633907 ms (missed cycles : 2).[0m ×2 + 46.43sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896632 ms (missed cycles : 2). + 47.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896632 ms (missed cycles : 2).[0m ×2 + 47.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483390.10691619 seconds ×3 + 47.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.97sINFOobjective_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: ""
+ 47.97sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788483390.74074960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.11sINFOobjective_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 + 48.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.21sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 48.21sINFOros2_control_node[2026-09-04 00:56:30.894] [info] Received new action goal ×2 + 48.21sINFOros2_control_node[2026-09-04 00:56:30.894] [info] Accepted new action goal ×2 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770216 ms (missed cycles : 5). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770216 ms (missed cycles : 5).[0m ×2 + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.439084 ms (missed cycles : 7). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.439084 ms (missed cycles : 7).[0m ×2 + 50.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067817 ms (missed cycles : 2). + 50.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067817 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 153 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 0.89sWARNros2_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 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 ×6 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 7.09sINFOros2_control_node[2026-09-04 00:54:54.989] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-09-04 00:54:54.989] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653847 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653847 ms (missed cycles : 4).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119931 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119931 ms (missed cycles : 4).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854541 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854541 ms (missed cycles : 2).[0m ×2 + 10.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.36sINFOros2_control_node[2026-09-04 00:54:58.259] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-09-04 00:54:58.259] [info] Accepted new action goal ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066225 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066225 ms (missed cycles : 2).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783557 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783557 ms (missed cycles : 3).[0m ×2 + 12.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×6 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885902 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885902 ms (missed cycles : 2).[0m ×2 + 13.33sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.39sINFOros2_control_node[2026-09-04 00:55:01.294] [info] Received new action goal ×2 + 13.39sINFOros2_control_node[2026-09-04 00:55:01.294] [info] Accepted new action goal ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.805475 ms (missed cycles : 6). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.805475 ms (missed cycles : 6).[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876237 ms (missed cycles : 5). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876237 ms (missed cycles : 5).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717009 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717009 ms (missed cycles : 2).[0m ×2 + 16.36sINFOobjective_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 + 16.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544725 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544725 ms (missed cycles : 3).[0m ×2 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335145 ms (missed cycles : 2). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335145 ms (missed cycles : 2).[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934493 ms (missed cycles : 5). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934493 ms (missed cycles : 5).[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545700 ms (missed cycles : 2). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545700 ms (missed cycles : 2).[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956703 ms (missed cycles : 5). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956703 ms (missed cycles : 5).[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886707 ms (missed cycles : 3). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886707 ms (missed cycles : 3).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025321 ms (missed cycles : 2). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025321 ms (missed cycles : 2).[0m ×2 + 23.88sINFOobjective_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 + 23.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.88sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.88sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.88sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675864 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675864 ms (missed cycles : 3).[0m ×2 + 24.77sINFOros2_control_node[2026-09-04 00:55:12.669] [info] Received new action goal ×2 + 24.77sINFOros2_control_node[2026-09-04 00:55:12.669] [info] Accepted new action goal ×2 + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981709 ms (missed cycles : 2). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981709 ms (missed cycles : 2).[0m ×2 + 25.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.96sINFOobjective_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 + 26.06sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 26.11sINFOros2_control_node[2026-09-04 00:55:14.012] [info] Received new action goal ×2 + 26.11sINFOros2_control_node[2026-09-04 00:55:14.012] [info] Accepted new action goal ×2 + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966817 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966817 ms (missed cycles : 2).[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981311 ms (missed cycles : 2). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981311 ms (missed cycles : 2).[0m ×2 + 28.37sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 28.38sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.39sINFOros2_control_node[2026-09-04 00:55:16.289] [info] Received new action goal ×2 + 28.39sINFOros2_control_node[2026-09-04 00:55:16.289] [info] Accepted new action goal ×2 + 28.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005415 ms (missed cycles : 4). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005415 ms (missed cycles : 4).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082548 ms (missed cycles : 4). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082548 ms (missed cycles : 4).[0m ×2 + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147883 ms (missed cycles : 2). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147883 ms (missed cycles : 2).[0m ×2 + 31.53sINFOros2_control_node[2026-09-04 00:55:19.429] [info] Received new action goal ×2 + 31.53sINFOros2_control_node[2026-09-04 00:55:19.429] [info] Accepted new action goal ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836820 ms (missed cycles : 2). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836820 ms (missed cycles : 2).[0m ×2 + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151050 ms (missed cycles : 4). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151050 ms (missed cycles : 4).[0m ×2 + 34.11sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 34.12sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.16sINFOros2_control_node[2026-09-04 00:55:22.062] [info] Received new action goal ×2 + 34.16sINFOros2_control_node[2026-09-04 00:55:22.062] [info] Accepted new action goal ×2 + 34.57sWARNros2_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 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138866 ms (missed cycles : 5). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138866 ms (missed cycles : 5).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407925 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407925 ms (missed cycles : 2).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402033 ms (missed cycles : 3). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402033 ms (missed cycles : 3).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950170 ms (missed cycles : 5). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950170 ms (missed cycles : 5).[0m ×2 + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453994 ms (missed cycles : 4). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453994 ms (missed cycles : 4).[0m ×2 + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980759 ms (missed cycles : 2). + 40.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980759 ms (missed cycles : 2).[0m ×2 + 41.21sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150427 ms (missed cycles : 2). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150427 ms (missed cycles : 2).[0m ×2 + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295241 ms (missed cycles : 4). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295241 ms (missed cycles : 4).[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812533 ms (missed cycles : 2). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812533 ms (missed cycles : 2).[0m ×2 + 44.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323944 ms (missed cycles : 2). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323944 ms (missed cycles : 2).[0m ×2 + 44.86sINFOros2_control_node[2026-09-04 00:55:32.759] [info] Received new action goal ×2 + 44.86sINFOros2_control_node[2026-09-04 00:55:32.759] [info] Accepted new action goal ×2 + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305364 ms (missed cycles : 2). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305364 ms (missed cycles : 2).[0m ×2 + 46.01sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788483333.91556954 seconds ×3 + 46.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.60sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788483334.68900561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177784 ms (missed cycles : 2). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177784 ms (missed cycles : 2).[0m ×2 + 47.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847731 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847731 ms (missed cycles : 2).[0m ×2 + 48.05sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 48.07sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.09sINFOros2_control_node[2026-09-04 00:55:35.993] [info] Received new action goal ×2 + 48.09sINFOros2_control_node[2026-09-04 00:55:35.993] [info] Accepted new action goal ×2 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975412 ms (missed cycles : 3). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975412 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13920 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2287 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2287 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4574 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4574 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289474 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289474 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633907 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633907 ms (missed cycles : 2).[0m ×2 + 2.23sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896632 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896632 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483390.10691619 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.77sINFOobjective_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: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788483390.74074960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_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 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.01sINFOros2_control_node[2026-09-04 00:56:30.894] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 00:56:30.894] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770216 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770216 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.439084 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.439084 ms (missed cycles : 7).[0m ×2 + 5.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.32sINFOobjective_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 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067817 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067817 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082961 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082961 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847086 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847086 ms (missed cycles : 2).[0m ×2 + 8.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045416 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045416 ms (missed cycles : 2).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909645 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909645 ms (missed cycles : 3).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873729 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873729 ms (missed cycles : 2).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752656 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752656 ms (missed cycles : 2).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469390 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469390 ms (missed cycles : 2).[0m ×2 + 14.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504274 ms (missed cycles : 6). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504274 ms (missed cycles : 6).[0m ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948879 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948879 ms (missed cycles : 2).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060608 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060608 ms (missed cycles : 2).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752357 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752357 ms (missed cycles : 2).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670055 ms (missed cycles : 2). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670055 ms (missed cycles : 2).[0m ×2 + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764519 ms (missed cycles : 2). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764519 ms (missed cycles : 2).[0m ×2 + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854587 ms (missed cycles : 2). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854587 ms (missed cycles : 2).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786946 ms (missed cycles : 2). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786946 ms (missed cycles : 2).[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2).[0m ×2 + 25.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483412.22077465 seconds ×3 + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6).[0m ×2 + 25.88sWARNros2_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 + 25.96sINFOobjective_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: ""
+ 25.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788483412.92726946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.23sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 26.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.24sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Received new action goal ×2 + 26.24sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Accepted new action goal ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4).[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3).[0m ×2 + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 12.6s | 3 errors · 62 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.88sINFOobjective_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 + 1.89sERRORobjective_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: 1788483227.60184073 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.53sINFOobjective_server_nodecaller: ×8 + 2.53sINFOobjective_server_nodetype: 0 ×8 + 2.53sINFOobjective_server_nodename: "" ×8 + 2.53sINFOobjective_server_nodeinstance_id: "" ×8 + 2.53sINFOobjective_server_node ×8 + 2.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326742 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326742 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681346 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681346 ms (missed cycles : 2).[0m ×2 + 7.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×4 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262407 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262407 ms (missed cycles : 2).[0m ×2 + 9.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.25sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.55sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.66sINFOobjective_server_nodeFound path in 1 iterations (0.00239638 s). ×2 + 9.81sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298240 ms (missed cycles : 4). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298240 ms (missed cycles : 4).[0m ×2 + 9.89sINFOros2_control_node[2026-09-04 00:53:55.601] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-09-04 00:53:55.601] [info] Accepted new action goal ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858382 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858382 ms (missed cycles : 3).[0m ×2 + 12.19sINFOros2_control_node[2026-09-04 00:53:57.904] [info] Received new action goal ×2 + 12.19sINFOros2_control_node[2026-09-04 00:53:57.904] [info] Accepted new action goal ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345853 ms (missed cycles : 4). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345853 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.02sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Received new action goal ×2 + 14.02sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Accepted new action goal ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3).[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788483241.02267742 seconds ×3 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2).[0m ×2 + 15.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.85sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 15.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788483241.64630914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788483241.70642471 seconds ×3 + 16.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.63sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788483242.34819388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2).[0m ×2 + 16.74sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 16.74sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 16.76sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Received new action goal ×2 + 16.76sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Accepted new action goal ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4).[0m ×2 + 19.03sWARNros2_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 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 62 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140883 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140883 ms (missed cycles : 2).[0m ×2 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 1 iterations (0.00329905 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOros2_control_node[2026-09-04 00:54:32.087] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-04 00:54:32.087] [info] Accepted new action goal ×2 + 0.95sINFOros2_control_node[2026-09-04 00:54:32.489] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-04 00:54:32.489] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649431 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649431 ms (missed cycles : 6).[0m ×2 + 1.08sWARNros2_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 ×4 + 2.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369908 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369908 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.11sERRORobjective_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: 1788483274.64470696 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664485 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664485 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.78sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.78sINFOobjective_server_nodecaller: ×6 + 3.78sINFOobjective_server_nodetype: 0 ×6 + 3.78sINFOobjective_server_nodename: "" ×6 + 3.78sINFOobjective_server_nodeinstance_id: "" ×6 + 3.78sINFOobjective_server_node ×6 + 3.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788483275.42976117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 00:54:35.574] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 00:54:35.574] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195838 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195838 ms (missed cycles : 4).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487001 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487001 ms (missed cycles : 4).[0m ×2 + 6.52sINFOros2_control_node[2026-09-04 00:54:38.051] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-04 00:54:38.051] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146602 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146602 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356715 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356715 ms (missed cycles : 2).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804619 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804619 ms (missed cycles : 3).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851833 ms (missed cycles : 5). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851833 ms (missed cycles : 5).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.233995 ms (missed cycles : 5). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.233995 ms (missed cycles : 5).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130944 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130944 ms (missed cycles : 2).[0m ×2 + 12.06sWARNros2_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 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962862 ms (missed cycles : 4). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962862 ms (missed cycles : 4).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815497 ms (missed cycles : 6). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815497 ms (missed cycles : 6).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788483286.62284708 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212761 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212761 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: 1788483287.29486895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.83sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788483287.36501026 seconds ×3 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.53sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 16.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.54sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 16.54sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 17.26sWARNros2_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 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 18.55sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 | ||||
| ✓ 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 1.812533 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812533 ms (missed cycles : 2).[0m ×2 + 0.34sINFOobjective_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 + 0.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.34sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.34sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.34sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323944 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323944 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.28sINFOros2_control_node[2026-09-04 00:55:32.759] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-09-04 00:55:32.759] [info] Accepted new action goal ×2 + 2.06sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305364 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305364 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788483333.91556954 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.21sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788483334.68900561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177784 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177784 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847731 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847731 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.52sINFOros2_control_node[2026-09-04 00:55:35.993] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 00:55:35.993] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975412 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975412 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096565 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096565 ms (missed cycles : 2).[0m ×2 + 7.29sWARNros2_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 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325397 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325397 ms (missed cycles : 2).[0m ×2 + 8.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.21sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.21sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.21sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.21sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169549 ms (missed cycles : 5). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169549 ms (missed cycles : 5).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478551 ms (missed cycles : 3). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478551 ms (missed cycles : 3).[0m ×2 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.63sINFOros2_control_node[2026-09-04 00:55:42.103] [info] Received new action goal ×2 + 10.63sINFOros2_control_node[2026-09-04 00:55:42.103] [info] Accepted new action goal ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562392 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562392 ms (missed cycles : 2).[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874838 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874838 ms (missed cycles : 2).[0m ×2 + 13.11sWARNros2_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 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654496 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654496 ms (missed cycles : 2).[0m ×2 + 14.23sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788483345.70915413 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774337 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774337 ms (missed cycles : 2).[0m ×2 + 14.78sINFOobjective_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: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788483346.30739117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 14.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.00sINFOros2_control_node[2026-09-04 00:55:46.481] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-09-04 00:55:46.481] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643185 ms (missed cycles : 4). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643185 ms (missed cycles : 4).[0m ×2 + 16.27sINFOobjective_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 + 16.28sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462436 ms (missed cycles : 4). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462436 ms (missed cycles : 4).[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571428 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571428 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 62 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980370 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980370 ms (missed cycles : 2).[0m ×2 + 0.19sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.46sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788483260.79876518 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.479816 ms (missed cycles : 6). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.479816 ms (missed cycles : 6).[0m ×2 + 1.26sWARNros2_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 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847019 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847019 ms (missed cycles : 3).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051692 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051692 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×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 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788483264.13106537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-09-04 00:54:24.336] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-04 00:54:24.336] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387093 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387093 ms (missed cycles : 3).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.016846 ms (missed cycles : 8). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.016846 ms (missed cycles : 8).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026605 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026605 ms (missed cycles : 2).[0m ×2 + 7.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.65sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673252 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673252 ms (missed cycles : 2).[0m ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 1 iterations (0.00272937 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 2 iterations (0.00485999 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 1 iterations (0.00310759 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.80sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.88sINFOros2_control_node[2026-09-04 00:54:29.188] [info] Received new action goal ×2 + 8.88sINFOros2_control_node[2026-09-04 00:54:29.188] [info] Accepted new action goal ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854481 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854481 ms (missed cycles : 2).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431597 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431597 ms (missed cycles : 2).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140883 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140883 ms (missed cycles : 2).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.42sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.44sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 11.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.55sINFOobjective_server_nodeFound path in 1 iterations (0.00329905 s). ×2 + 11.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.78sINFOros2_control_node[2026-09-04 00:54:32.087] [info] Received new action goal ×2 + 11.78sINFOros2_control_node[2026-09-04 00:54:32.087] [info] Accepted new action goal ×2 + 12.18sINFOros2_control_node[2026-09-04 00:54:32.489] [info] Received new action goal ×2 + 12.18sINFOros2_control_node[2026-09-04 00:54:32.489] [info] Accepted new action goal ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649431 ms (missed cycles : 6). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649431 ms (missed cycles : 6).[0m ×2 + 12.31sWARNros2_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 ×4 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369908 ms (missed cycles : 4). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369908 ms (missed cycles : 4).[0m ×2 + 14.29sINFOobjective_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 + 14.29sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.29sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483274.64470696 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664485 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664485 ms (missed cycles : 3).[0m ×2 + 15.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.01sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788483275.42976117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 15.27sINFOros2_control_node[2026-09-04 00:54:35.574] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-09-04 00:54:35.574] [info] Accepted new action goal ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195838 ms (missed cycles : 4). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195838 ms (missed cycles : 4).[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487001 ms (missed cycles : 4). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487001 ms (missed cycles : 4).[0m ×2 + 17.75sINFOros2_control_node[2026-09-04 00:54:38.051] [info] Received new action goal ×2 + 17.75sINFOros2_control_node[2026-09-04 00:54:38.051] [info] Accepted new action goal ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146602 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146602 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057951 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057951 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.682912 ms (missed cycles : 7). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.682912 ms (missed cycles : 7).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718875 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718875 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.59sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.62sINFOros2_control_node[2026-09-04 00:53:36.236] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-04 00:53:36.236] [info] Accepted new action goal ×2 + 2.84sWARNros2_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 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-09-04 00:53:36.509] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 00:53:36.509] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788483216.51828361 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729714 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729714 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.44sINFOobjective_server_nodecaller: ×6 + 3.44sINFOobjective_server_nodetype: 0 ×6 + 3.44sINFOobjective_server_nodename: "" ×6 + 3.44sINFOobjective_server_nodeinstance_id: "" ×6 + 3.44sINFOobjective_server_node ×6 + 3.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788483217.12124324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-09-04 00:53:37.335] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 00:53:37.335] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094056 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094056 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837680 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837680 ms (missed cycles : 2).[0m ×2 + 5.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.99sINFOros2_control_node[2026-09-04 00:53:39.605] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-09-04 00:53:39.605] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207594 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207594 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717912 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717912 ms (missed cycles : 3).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529696 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529696 ms (missed cycles : 3).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963375 ms (missed cycles : 5). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963375 ms (missed cycles : 5).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932904 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932904 ms (missed cycles : 2).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 13.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[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: 1788483227.60184073 seconds ×3 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 14.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.62sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 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: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 15.58sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 15.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.59sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 15.59sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 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 5.473156 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473156 ms (missed cycles : 4).[0m ×2 + 0.07sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014051 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014051 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875788 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875788 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788483444.47388077 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576577 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576577 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.33sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.33sINFOobjective_server_nodecaller: ×8 + 3.33sINFOobjective_server_nodetype: 0 ×8 + 3.33sINFOobjective_server_nodename: "" ×8 + 3.33sINFOobjective_server_nodeinstance_id: "" ×8 + 3.33sINFOobjective_server_node ×8 + 3.39sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788483445.12528801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.53sINFOros2_control_node[2026-09-04 00:57:25.259] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 00:57:25.259] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843551 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843551 ms (missed cycles : 5).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351162 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351162 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737526 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737526 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134064 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134064 ms (missed cycles : 2).[0m ×2 + 7.38sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306353 ms (missed cycles : 4). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306353 ms (missed cycles : 4).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417979 ms (missed cycles : 5). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417979 ms (missed cycles : 5).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468683 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468683 ms (missed cycles : 2).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3).[0m ×2 + 12.12sWARNros2_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 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 13.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483455.50555944 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 15.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_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 + 15.10sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 15.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.65sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.71sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.83sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 15.83sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 59 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_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 ×4 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461928 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461928 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.75sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 7.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.14sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.24sINFOobjective_server_nodeFound path in 1 iterations (0.00405394 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.41sINFOobjective_server_nodeFound path in 2 iterations (0.00481918 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 7.54sINFOobjective_server_nodeFound path in 1 iterations (0.00337624 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047311 ms (missed cycles : 8). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047311 ms (missed cycles : 8).[0m ×2 + 7.97sINFOros2_control_node[2026-09-04 00:54:18.242] [info] Received new action goal ×2 + 7.97sINFOros2_control_node[2026-09-04 00:54:18.242] [info] Accepted new action goal ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849698 ms (missed cycles : 5). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849698 ms (missed cycles : 5).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980370 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980370 ms (missed cycles : 2).[0m ×2 + 10.23sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.49sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.49sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.49sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788483260.79876518 seconds ×3 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.479816 ms (missed cycles : 6). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.479816 ms (missed cycles : 6).[0m ×2 + 11.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847019 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847019 ms (missed cycles : 3).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051692 ms (missed cycles : 4). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051692 ms (missed cycles : 4).[0m ×2 + 13.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.76sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.86sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788483264.13106537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.05sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 14.06sINFOros2_control_node[2026-09-04 00:54:24.336] [info] Received new action goal ×2 + 14.06sINFOros2_control_node[2026-09-04 00:54:24.336] [info] Accepted new action goal ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387093 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387093 ms (missed cycles : 3).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.016846 ms (missed cycles : 8). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.016846 ms (missed cycles : 8).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026605 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026605 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440350 ms (missed cycles : 5). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440350 ms (missed cycles : 5).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690038 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690038 ms (missed cycles : 2).[0m ×2 + 9.75sWARNros2_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 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548873 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548873 ms (missed cycles : 3).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275424 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275424 ms (missed cycles : 4).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.404551 ms (missed cycles : 6). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.404551 ms (missed cycles : 6).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128050 ms (missed cycles : 4). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128050 ms (missed cycles : 4).[0m ×2 + 13.90sERRORobjective_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: 1788483434.00019646 seconds ×3 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373228 ms (missed cycles : 4). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373228 ms (missed cycles : 4).[0m ×2 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788483434.59170151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.78sINFOros2_control_node[2026-09-04 00:57:14.880] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-04 00:57:14.880] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843370 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843370 ms (missed cycles : 3).[0m ×2 + 15.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177141 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177141 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226158 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226158 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 56 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3).[0m ×2 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sWARNros2_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 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788483241.02267742 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.43sINFOobjective_server_nodecaller: ×6 + 2.43sINFOobjective_server_nodetype: 0 ×6 + 2.43sINFOobjective_server_nodename: "" ×6 + 2.43sINFOobjective_server_nodeinstance_id: "" ×6 + 2.43sINFOobjective_server_node ×6 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788483241.64630914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788483241.70642471 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788483242.34819388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4).[0m ×2 + 5.60sWARNros2_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 ×4 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948693 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948693 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.69sINFOros2_control_node[2026-09-04 00:54:05.822] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-04 00:54:05.822] [info] Accepted new action goal ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220342 ms (missed cycles : 5). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220342 ms (missed cycles : 5).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190611 ms (missed cycles : 3). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190611 ms (missed cycles : 3).[0m ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 9.03sINFOros2_control_node[2026-09-04 00:54:08.170] [info] Received new action goal ×2 + 9.03sINFOros2_control_node[2026-09-04 00:54:08.170] [info] Accepted new action goal ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570092 ms (missed cycles : 5). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570092 ms (missed cycles : 5).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 11.36sWARNros2_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 + 11.38sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 11.38sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 11.38sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 13.36sINFOobjective_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 + 13.36sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 13.36sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 13.37sERRORobjective_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: 1788483252.51098275 seconds ×3 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 13.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 14.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.19sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 410 info |
+ 0.00sWARNros2_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 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 1.65sINFOobjective_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 + 1.65sERRORobjective_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: 1788483455.50555944 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.24sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.24sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.24sINFOobjective_server_nodecaller: ×14 + 2.24sINFOobjective_server_nodetype: 0 ×14 + 2.24sINFOobjective_server_nodename: "" ×14 + 2.24sINFOobjective_server_nodeinstance_id: "" ×14 + 2.24sINFOobjective_server_node ×14 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.72sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4).[0m ×2 + 7.02sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.03sINFOros2_control_node[2026-09-04 00:57:40.878] [info] Received new action goal ×2 + 7.03sINFOros2_control_node[2026-09-04 00:57:40.878] [info] Accepted new action goal ×2 + 7.03sINFOros2_control_node[2026-09-04 00:57:40.878] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443053 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443053 ms (missed cycles : 4).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948519 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948519 ms (missed cycles : 3).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345555 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345555 ms (missed cycles : 3).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952007 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952007 ms (missed cycles : 2).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078644 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078644 ms (missed cycles : 3).[0m ×2 + 11.77sWARNros2_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 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6).[0m ×2 + 13.72sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Got request to cancel active goal. ×2 + 13.72sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Canceling active goal... ×2 + 13.73sERRORobjective_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: 1788483467.57912898 seconds ×3 + 14.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483468.17162633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2).[0m ×2 + 14.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483468.82175541 seconds ×3 + 15.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.51sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.56sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788483469.41344404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.56sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.56sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788483469.41529322 seconds ×3 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3).[0m ×2 + 16.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788483470.00436831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788483470.00497174 seconds ×3 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4).[0m ×2 + 16.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.84sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483470.73589182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 57 warnings · 2266 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483412.22077465 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6).[0m ×2 + 3.77sWARNros2_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 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_nodecaller: ×4 + 3.85sINFOobjective_server_nodetype: 0 ×4 + 3.85sINFOobjective_server_nodename: "" ×4 + 3.85sINFOobjective_server_nodeinstance_id: "" ×4 + 3.85sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788483412.92726946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.02sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.040983 ms (missed cycles : 6). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.040983 ms (missed cycles : 6).[0m ×2 + 8.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.17sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 1 iterations (0.00351307 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.78sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.80sINFOros2_control_node[2026-09-04 00:56:57.795] [info] Received new action goal ×2 + 8.80sINFOros2_control_node[2026-09-04 00:56:57.795] [info] Accepted new action goal ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078660 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078660 ms (missed cycles : 2).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693384 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693384 ms (missed cycles : 2).[0m ×2 + 10.55sWARNros2_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 + 11.10sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 11.10sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 13.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.02sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 13.02sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 14.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 14.00sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 14.02sERRORobjective_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: 1788483423.01215625 seconds ×3 + 14.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 14.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.59sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.67sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 14.85sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 14.85sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 15.69sWARNros2_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 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 16.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.6s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sWARNros2_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 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 2.44sWARNros2_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 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.52sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.02sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.03sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.03sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804250 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804250 ms (missed cycles : 3).[0m ×2 + 7.76sWARNros2_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 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064833 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064833 ms (missed cycles : 3).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.590999 ms (missed cycles : 6). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.590999 ms (missed cycles : 6).[0m ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 9.82sINFOros2_control_node[2026-09-04 00:53:32.900] [info] Received new action goal ×2 + 9.82sINFOros2_control_node[2026-09-04 00:53:32.900] [info] Accepted new action goal ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057951 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057951 ms (missed cycles : 2).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.682912 ms (missed cycles : 7). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.682912 ms (missed cycles : 7).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718875 ms (missed cycles : 5). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718875 ms (missed cycles : 5).[0m ×2 + 13.13sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 13.13sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.16sINFOros2_control_node[2026-09-04 00:53:36.236] [info] Received new action goal ×2 + 13.16sINFOros2_control_node[2026-09-04 00:53:36.236] [info] Accepted new action goal ×2 + 13.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 13.41sINFOobjective_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 + 13.43sINFOros2_control_node[2026-09-04 00:53:36.509] [info] Got request to cancel active goal. ×2 + 13.43sINFOros2_control_node[2026-09-04 00:53:36.509] [info] Canceling active goal... ×2 + 13.44sERRORobjective_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: 1788483216.51828361 seconds ×3 + 13.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729714 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729714 ms (missed cycles : 2).[0m ×2 + 13.98sINFOobjective_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: ""
+ 13.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788483217.12124324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 14.25sINFOros2_control_node[2026-09-04 00:53:37.335] [info] Received new action goal ×2 + 14.25sINFOros2_control_node[2026-09-04 00:53:37.335] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094056 ms (missed cycles : 5). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094056 ms (missed cycles : 5).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837680 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837680 ms (missed cycles : 2).[0m ×2 + 16.51sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 16.51sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.52sINFOros2_control_node[2026-09-04 00:53:39.605] [info] Received new action goal ×2 + 16.52sINFOros2_control_node[2026-09-04 00:53:39.605] [info] Accepted new action goal ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207594 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207594 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275424 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275424 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.404551 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.404551 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128050 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128050 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sERRORobjective_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: 1788483434.00019646 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373228 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373228 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788483434.59170151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 00:57:14.880] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 00:57:14.880] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843370 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843370 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177141 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177141 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226158 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226158 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590667 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590667 ms (missed cycles : 5).[0m ×2 + 7.87sINFOros2_control_node[2026-09-04 00:57:18.888] [info] Received new action goal ×2 + 7.87sINFOros2_control_node[2026-09-04 00:57:18.888] [info] Accepted new action goal ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423609 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423609 ms (missed cycles : 3).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367495 ms (missed cycles : 4). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367495 ms (missed cycles : 4).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473156 ms (missed cycles : 4). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473156 ms (missed cycles : 4).[0m ×2 + 10.78sWARNros2_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 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014051 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014051 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875788 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875788 ms (missed cycles : 2).[0m ×2 + 13.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788483444.47388077 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576577 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576577 ms (missed cycles : 2).[0m ×2 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.10sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788483445.12528801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 14.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.24sINFOros2_control_node[2026-09-04 00:57:25.259] [info] Received new action goal ×2 + 14.24sINFOros2_control_node[2026-09-04 00:57:25.259] [info] Accepted new action goal ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843551 ms (missed cycles : 5). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843551 ms (missed cycles : 5).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351162 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351162 ms (missed cycles : 3).[0m ×2 + 16.14sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737526 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737526 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 9.9s | 47 errors · 39 warnings · 363 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6).[0m ×2 + 0.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.25sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Got request to cancel active goal. ×2 + 0.25sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Canceling active goal... ×2 + 0.26sERRORobjective_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: 1788483467.57912898 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.80sINFOobjective_server_nodecaller: ×8 + 0.80sINFOobjective_server_nodetype: 0 ×8 + 0.80sINFOobjective_server_nodename: "" ×8 + 0.80sINFOobjective_server_nodeinstance_id: "" ×8 + 0.80sINFOobjective_server_node ×8 + 0.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483468.17162633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483468.82175541 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788483469.41344404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.09sINFOobjective_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 + 2.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788483469.41529322 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788483470.00436831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788483470.00497174 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483470.73589182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809209 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809209 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788483472.13602138 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408161 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408161 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999027 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999027 ms (missed cycles : 2).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295046 ms (missed cycles : 4). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295046 ms (missed cycles : 4).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640992 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640992 ms (missed cycles : 3).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357983 ms (missed cycles : 4). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357983 ms (missed cycles : 4).[0m ×2 + 10.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 10.97sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.99sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.99sERRORweb_video_auth_proxy-23process has died [pid 7491, 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 + 10.99sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.99sERRORweb_bridge_auth_proxy-22process has died [pid 7490, 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 + 10.99sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.00sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.00sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.00sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.01sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.01sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.01sINFOvideo_server-21process has finished cleanly [pid 7483] ×2 + 11.02sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.02sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.02sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.03sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.03sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.04sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.05sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.05sINFOcontroller_managerShutdown request received.... + 11.05sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.05sINFOvideo_server2026/09/04 00:57:58 INF shutting down gracefully ×2 + 11.05sINFOvideo_server2026/09/04 00:57:58 INF [WebRTC] closing ×2 + 11.05sINFOvideo_server2026/09/04 00:57:58 INF [RTSP] closing ×2 + 11.05sINFOvideo_server2026/09/04 00:57:58 INF waiting for running hooks ×2 + 11.05sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.05sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.05sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.05sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.05sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.05sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.05sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.05sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.05sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.05sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.05sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.05sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down the controller manager. + 11.05sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.05sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.05sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.05sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.05sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.05sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.05sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.21sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7478] ×2 + 11.21sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.24sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7407] ×2 + 11.25sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7406] ×2 + 11.25sINFOcomponent_container_mt-16process has finished cleanly [pid 7410] ×2 + 11.25sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.25sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.26sINFOparameter_manager_node-10process has finished cleanly [pid 7404] ×2 + 11.26sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.26sINFOwaypoint_manager_node-11process has finished cleanly [pid 7405] ×2 + 11.27sINFOui_teleop_bridge-18process has finished cleanly [pid 7412] ×2 + 11.28sINFOexecute_objective_bridge-17process has finished cleanly [pid 7411] ×2 + 11.32sINFOobjective_server_node[0;m[2026-09-04 00:57:58.643] [moveit_pro_license] [info] ×2 + 11.32sINFOobjective_server_node************************************************* ×4 + 11.32sINFOobjective_server_node* MoveIt Pro License ×2 + 11.32sINFOobjective_server_node* Application has successfully terminated ×2 + 11.36sINFOmove_group-9process has finished cleanly [pid 7403] ×2 + 11.36sINFOcomponent_container_mt-15process has finished cleanly [pid 7409] ×2 + 11.48sINFOobjective_server_node_main-14process has finished cleanly [pid 7408] ×2 + 11.48sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.82sINFOros2_control_node-1process has finished cleanly [pid 7362] ×2 + 12.44sINFOweb_bridge-19process has finished cleanly [pid 7413] ×2 + 12.44sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962862 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962862 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815497 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815497 ms (missed cycles : 6).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788483286.62284708 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212761 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212761 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.58sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.58sINFOobjective_server_nodecaller: ×6 + 2.58sINFOobjective_server_nodetype: 0 ×6 + 2.58sINFOobjective_server_nodename: "" ×6 + 2.58sINFOobjective_server_nodeinstance_id: "" ×6 + 2.58sINFOobjective_server_node ×6 + 2.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788483287.29486895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.67sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788483287.36501026 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 4.13sWARNros2_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 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 7.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.00sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 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 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.47sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 10.01sWARNros2_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 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 690 info |
+ 0.00sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.00sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.01sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.09sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.09sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.30sINFOcomponent_container_mt[2026-09-04 00:53:18.780] [moveit_pro_license] [info] ×2 + 0.30sINFOcomponent_container_mt************************************************* ×4 + 0.30sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.30sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.60sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.60sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.61sWARNros2_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 + 0.61sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.61sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.61sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.61sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.61sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.61sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.61sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.61sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.61sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.61sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.61sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.61sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.61sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.61sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.61sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.61sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.61sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.61sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.61sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.61sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.61sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.61sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.61sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.61sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.61sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.61sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.61sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.61sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.84sINFOforce_torque_sensor_broadcasterconfigure successful + 0.84sINFOros2_control_nodeconfigure successful[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.84sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.85sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.11sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.11sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.11sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.12sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 1.12sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.12sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.14sINFOros2-2process has finished cleanly [pid 7363] ×2 + 1.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 1.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.26sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.26sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.27sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.29sINFOros2_control_node[2026-09-04 00:53:19.772] [info] Controller state will be published at 10 Hz. ×2 + 1.29sINFOros2_control_node[2026-09-04 00:53:19.773] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.57sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.57sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.57sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.57sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 1.58sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.60sINFOros2-7process has finished cleanly [pid 7379] ×2 + 1.61sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.61sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.61sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.62sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3).[0m ×2 + 1.94sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.94sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.94sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.98sINFOros2-4process has finished cleanly [pid 7376] ×2 + 2.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 2.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 2.06sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.06sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.07sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.07sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.09sINFOros2_control_node[2026-09-04 00:53:20.573] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.09sINFOros2_control_node[2026-09-04 00:53:20.573] [info] Controller state will be published at 50 Hz. ×2 + 2.10sINFOros2_control_node[2026-09-04 00:53:20.578] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 2.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 2.41sINFOros2-6process has finished cleanly [pid 7378] ×2 + 2.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.43sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.43sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.45sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.45sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.72sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.72sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.72sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.72sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.72sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 2.72sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 2.73sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.73sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.75sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.75sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.75sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3).[0m ×2 + 2.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.77sINFOros2-5process has finished cleanly [pid 7377] ×2 + 2.78sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.84sINFOobjective_server_nodecaller: ×14 + 2.84sINFOobjective_server_nodetype: 0 ×14 + 2.84sINFOobjective_server_nodename: "" ×14 + 2.84sINFOobjective_server_nodeinstance_id: "" ×14 + 2.84sINFOobjective_server_node ×14 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483201.37671590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483201.38695025 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.10sINFOros2-3process has finished cleanly [pid 7364] ×2 + 3.10sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.10sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.10sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.10sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.16sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 3.16sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 3.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.23sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 3.23sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788483201.97167039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.57sINFOros2-8process has finished cleanly [pid 7380] ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 4.74sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 7.04sWARNros2_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 + 7.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.30sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.37sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.37sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 7.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 7.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.00sINFOobjective_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 + 8.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.12sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078644 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078644 ms (missed cycles : 3).[0m ×2 + 0.39sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Canceling active goal... ×2 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483467.57912898 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.89sINFOobjective_server_nodecaller: ×8 + 2.89sINFOobjective_server_nodetype: 0 ×8 + 2.89sINFOobjective_server_nodename: "" ×8 + 2.89sINFOobjective_server_nodeinstance_id: "" ×8 + 2.89sINFOobjective_server_node ×8 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483468.17162633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483468.82175541 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788483469.41344404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.19sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788483469.41529322 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788483470.00436831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788483470.00497174 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483470.73589182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809209 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809209 ms (missed cycles : 3).[0m ×2 + 6.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788483472.13602138 seconds ×3 + 6.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130944 ms (missed cycles : 2).[0m ×2 + 0.01sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962862 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962862 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815497 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815497 ms (missed cycles : 6).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788483286.62284708 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212761 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212761 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788483287.29486895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788483287.36501026 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 5.21sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6).[0m ×2 + 1.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Got request to cancel active goal. ×2 + 1.32sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Canceling active goal... ×2 + 1.32sERRORobjective_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: 1788483467.57912898 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.86sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.86sINFOobjective_server_nodecaller: ×8 + 1.86sINFOobjective_server_nodetype: 0 ×8 + 1.86sINFOobjective_server_nodename: "" ×8 + 1.86sINFOobjective_server_nodeinstance_id: "" ×8 + 1.86sINFOobjective_server_node ×8 + 1.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483468.17162633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483468.82175541 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.16sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788483469.41344404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.16sINFOobjective_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 + 3.16sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788483469.41529322 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788483470.00436831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788483470.00497174 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483470.73589182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809209 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809209 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788483472.13602138 seconds ×3 + 5.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408161 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408161 ms (missed cycles : 2).[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 2.468683 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468683 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3).[0m ×2 + 1.51sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sERRORobjective_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: 1788483455.50555944 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.75sINFOobjective_server_nodecaller: ×6 + 3.75sINFOobjective_server_nodetype: 0 ×6 + 3.75sINFOobjective_server_nodename: "" ×6 + 3.75sINFOobjective_server_nodeinstance_id: "" ×6 + 3.75sINFOobjective_server_node ×6 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[0m ×2 + 7.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345853 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3).[0m ×2 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.79sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Received new action goal ×2 + 1.79sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Accepted new action goal ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788483241.02267742 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788483241.64630914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788483241.70642471 seconds ×3 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788483242.34819388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.52sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4).[0m ×2 + 6.79sWARNros2_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 | ||||
| ✓ 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 1.932904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932904 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_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 + 2.93sERRORobjective_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: 1788483227.60184073 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 516 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.25sINFOros2-4process has finished cleanly [pid 7376] ×2 + 0.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.33sWARNobjective_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 + 0.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.34sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.34sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.36sINFOros2_control_node[2026-09-04 00:53:20.573] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.36sINFOros2_control_node[2026-09-04 00:53:20.573] [info] Controller state will be published at 50 Hz. ×2 + 0.37sINFOros2_control_node[2026-09-04 00:53:20.578] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.65sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.65sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.68sINFOros2-6process has finished cleanly [pid 7378] ×2 + 0.70sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.71sINFOros2_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 + 0.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.72sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.99sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.99sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.99sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.99sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3).[0m ×2 + 1.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOros2-5process has finished cleanly [pid 7377] ×2 + 1.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483201.37671590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483201.38695025 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.37sINFOros2-3process has finished cleanly [pid 7364] ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 1.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.50sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 1.50sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788483201.97167039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.85sINFOros2-8process has finished cleanly [pid 7380] ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 3.02sWARNros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 5.31sWARNros2_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 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 6.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.39sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 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 3.793783 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3).[0m ×2 + 0.41sWARNros2_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 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788483455.50555944 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.65sINFOobjective_server_nodecaller: ×6 + 2.65sINFOobjective_server_nodetype: 0 ×6 + 2.65sINFOobjective_server_nodename: "" ×6 + 2.65sINFOobjective_server_nodeinstance_id: "" ×6 + 2.65sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.13sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[0m ×2 + 6.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Got request to cancel active goal. ×2 + 1.95sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Canceling active goal... ×2 + 1.96sERRORobjective_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: 1788483467.57912898 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.50sINFOobjective_server_nodecaller: ×8 + 2.50sINFOobjective_server_nodetype: 0 ×8 + 2.50sINFOobjective_server_nodename: "" ×8 + 2.50sINFOobjective_server_nodeinstance_id: "" ×8 + 2.50sINFOobjective_server_node ×8 + 2.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483468.17162633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483468.82175541 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.79sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788483469.41344404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.79sINFOobjective_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 + 3.79sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788483469.41529322 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788483470.00436831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788483470.00497174 seconds ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4).[0m ×2 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483470.73589182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809209 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809209 ms (missed cycles : 3).[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788483472.13602138 seconds ×3 + 6.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408161 ms (missed cycles : 2). | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483412.22077465 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6).[0m ×2 + 3.77sWARNros2_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 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788483412.92726946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3).[0m ×2 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_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 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788483241.02267742 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788483241.64630914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788483241.70642471 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788483242.34819388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4).[0m ×2 + 5.60sWARNros2_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 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932904 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_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 + 2.93sERRORobjective_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: 1788483227.60184073 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932904 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_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 + 2.93sERRORobjective_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: 1788483227.60184073 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2).[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 2.381089 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.88sINFOobjective_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 + 1.89sERRORobjective_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: 1788483227.60184073 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 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 2.381089 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.88sINFOobjective_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 + 1.89sERRORobjective_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: 1788483227.60184073 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 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 2.381089 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.88sINFOobjective_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 + 1.89sERRORobjective_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: 1788483227.60184073 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 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 2.381089 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381089 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.88sINFOobjective_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 + 1.89sERRORobjective_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: 1788483227.60184073 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064578 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788483228.28956723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788483228.36968350 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788483229.01255178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791999 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-04 00:53:49.206] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105839 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667694 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3).[0m ×2 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_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 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788483241.02267742 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788483241.64630914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788483241.70642471 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788483242.34819388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4).[0m ×2 + 5.60sWARNros2_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 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3).[0m ×2 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_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 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788483241.02267742 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788483241.64630914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788483241.70642471 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788483242.34819388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4).[0m ×2 + 5.60sWARNros2_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 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3).[0m ×2 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_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 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788483241.02267742 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788483241.64630914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788483241.70642471 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788483242.34819388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4).[0m ×2 + 5.60sWARNros2_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 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328694 ms (missed cycles : 3).[0m ×2 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_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 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 00:53:59.736] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366474 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788483241.02267742 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205740 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788483241.64630914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788483241.70642471 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788483242.34819388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235697 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 00:54:02.472] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680151 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077838 ms (missed cycles : 4).[0m ×2 + 5.60sWARNros2_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 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268811 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-04 00:54:10.519] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111503 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-04 00:54:12.498] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483252.51098275 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741908 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788483253.13602281 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 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 00:54:13.329] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340997 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844713 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778765 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 25 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140883 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140883 ms (missed cycles : 2).[0m ×2 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 1 iterations (0.00329905 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.55sINFOros2_control_node[2026-09-04 00:54:32.087] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-04 00:54:32.087] [info] Accepted new action goal ×2 + 0.95sINFOros2_control_node[2026-09-04 00:54:32.489] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-04 00:54:32.489] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649431 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649431 ms (missed cycles : 6).[0m ×2 + 1.08sWARNros2_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 ×4 + 2.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369908 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369908 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.11sERRORobjective_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: 1788483274.64470696 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664485 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664485 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788483275.42976117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-04 00:54:35.574] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 00:54:35.574] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195838 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195838 ms (missed cycles : 4).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487001 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487001 ms (missed cycles : 4).[0m ×2 + 6.52sINFOros2_control_node[2026-09-04 00:54:38.051] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-04 00:54:38.051] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146602 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146602 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 25 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130944 ms (missed cycles : 2).[0m ×2 + 0.01sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962862 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962862 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815497 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815497 ms (missed cycles : 6).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788483286.62284708 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212761 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212761 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788483287.29486895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788483287.36501026 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 5.21sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 warnings · 106 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 0.89sWARNros2_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 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 22 warnings · 106 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 0.89sWARNros2_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 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 22 warnings · 106 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 0.89sWARNros2_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 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 22 warnings · 106 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 0.89sWARNros2_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 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 22 warnings · 106 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 0.89sWARNros2_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 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 22 warnings · 106 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 0.89sWARNros2_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 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 22 warnings · 106 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: 1788483287.95344567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 00:54:48.077] [info] Accepted new action goal ×2 + 0.89sWARNros2_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 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935865 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139932 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788483290.08379102 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495188 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788483291.72527909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 00:54:52.132] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102493 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486578 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679614 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562392 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874838 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874838 ms (missed cycles : 2).[0m ×2 + 1.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654496 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654496 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788483345.70915413 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774337 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774337 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_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: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788483346.30739117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-09-04 00:55:46.481] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 00:55:46.481] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643185 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643185 ms (missed cycles : 4).[0m ×2 + 5.07sINFOobjective_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 + 5.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462436 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462436 ms (missed cycles : 4).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571428 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571428 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 · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483412.22077465 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6).[0m ×2 + 3.77sWARNros2_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 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788483412.92726946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483412.22077465 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6).[0m ×2 + 3.77sWARNros2_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 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788483412.92726946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483412.22077465 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6).[0m ×2 + 3.77sWARNros2_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 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788483412.92726946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873448 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699329 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725403 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788483412.22077465 seconds ×3 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745672 ms (missed cycles : 6).[0m ×2 + 3.77sWARNros2_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 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788483412.92726946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-04 00:56:53.121] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667473 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687486 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 00:57:00.097] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241931 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070415 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 00:57:02.011] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255155 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-09-04 00:57:02.997] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788483423.01215625 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403471 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788483423.66960645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-04 00:57:03.844] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666743 ms (missed cycles : 3).[0m ×2 + 4.59sWARNros2_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635375 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620372 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275424 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275424 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.404551 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.404551 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128050 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128050 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sERRORobjective_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: 1788483434.00019646 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373228 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373228 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788483434.59170151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 00:57:14.880] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 00:57:14.880] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843370 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843370 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177141 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177141 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226158 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226158 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473156 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473156 ms (missed cycles : 4).[0m ×2 + 0.07sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014051 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014051 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875788 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875788 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788483444.47388077 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576577 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576577 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788483445.12528801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.53sINFOros2_control_node[2026-09-04 00:57:25.259] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 00:57:25.259] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843551 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843551 ms (missed cycles : 5).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351162 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351162 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737526 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737526 ms (missed cycles : 2).[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 2.468683 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468683 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3).[0m ×2 + 1.51sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sERRORobjective_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: 1788483455.50555944 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.75sINFOobjective_server_nodecaller: ×6 + 3.75sINFOobjective_server_nodetype: 0 ×6 + 3.75sINFOobjective_server_nodename: "" ×6 + 3.75sINFOobjective_server_nodeinstance_id: "" ×6 + 3.75sINFOobjective_server_node ×6 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[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 2.468683 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468683 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3).[0m ×2 + 1.51sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sERRORobjective_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: 1788483455.50555944 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.75sINFOobjective_server_nodecaller: ×6 + 3.75sINFOobjective_server_nodetype: 0 ×6 + 3.75sINFOobjective_server_nodename: "" ×6 + 3.75sINFOobjective_server_nodeinstance_id: "" ×6 + 3.75sINFOobjective_server_node ×6 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[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 2.468683 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468683 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3).[0m ×2 + 1.51sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sERRORobjective_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: 1788483455.50555944 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.75sINFOobjective_server_nodecaller: ×6 + 3.75sINFOobjective_server_nodetype: 0 ×6 + 3.75sINFOobjective_server_nodename: "" ×6 + 3.75sINFOobjective_server_nodeinstance_id: "" ×6 + 3.75sINFOobjective_server_node ×6 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[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 2.468683 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468683 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793783 ms (missed cycles : 3).[0m ×2 + 1.51sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sERRORobjective_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: 1788483455.50555944 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.75sINFOobjective_server_nodecaller: ×6 + 3.75sINFOobjective_server_nodetype: 0 ×6 + 3.75sINFOobjective_server_nodename: "" ×6 + 3.75sINFOobjective_server_nodeinstance_id: "" ×6 + 3.75sINFOobjective_server_node ×6 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_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 + 4.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[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 (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 1.65sINFOobjective_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 + 1.65sERRORobjective_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: 1788483455.50555944 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.24sINFOobjective_server_nodecaller: ×6 + 2.24sINFOobjective_server_nodetype: 0 ×6 + 2.24sINFOobjective_server_nodename: "" ×6 + 2.24sINFOobjective_server_nodeinstance_id: "" ×6 + 2.24sINFOobjective_server_node ×6 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.72sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4).[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 (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 1.65sINFOobjective_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 + 1.65sERRORobjective_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: 1788483455.50555944 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.24sINFOobjective_server_nodecaller: ×6 + 2.24sINFOobjective_server_nodetype: 0 ×6 + 2.24sINFOobjective_server_nodename: "" ×6 + 2.24sINFOobjective_server_nodeinstance_id: "" ×6 + 2.24sINFOobjective_server_node ×6 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.72sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4).[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 (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465194 ms (missed cycles : 5).[0m ×2 + 1.65sINFOobjective_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 + 1.65sERRORobjective_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: 1788483455.50555944 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410920 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.24sINFOobjective_server_nodecaller: ×6 + 2.24sINFOobjective_server_nodetype: 0 ×6 + 2.24sINFOobjective_server_nodename: "" ×6 + 2.24sINFOobjective_server_nodeinstance_id: "" ×6 + 2.24sINFOobjective_server_node ×6 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788483456.14722657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788483456.22736144 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129906 ms (missed cycles : 5).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788483456.81459522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788483456.83671045 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788483457.44434595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.72sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 00:57:37.568] [info] Accepted new action goal ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681149 ms (missed cycles : 2).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474019 ms (missed cycles : 5).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520117 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078644 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078644 ms (missed cycles : 3).[0m ×2 + 0.39sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Canceling active goal... ×2 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483467.57912898 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.89sINFOobjective_server_nodecaller: ×8 + 2.89sINFOobjective_server_nodetype: 0 ×8 + 2.89sINFOobjective_server_nodename: "" ×8 + 2.89sINFOobjective_server_nodeinstance_id: "" ×8 + 2.89sINFOobjective_server_node ×8 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483468.17162633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483468.82175541 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788483469.41344404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.19sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788483469.41529322 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788483470.00436831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788483470.00497174 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483470.73589182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078644 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078644 ms (missed cycles : 3).[0m ×2 + 0.39sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358156 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966464 ms (missed cycles : 6).[0m ×2 + 2.35sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-04 00:57:47.574] [info] Canceling active goal... ×2 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788483467.57912898 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.89sINFOobjective_server_nodecaller: ×8 + 2.89sINFOobjective_server_nodetype: 0 ×8 + 2.89sINFOobjective_server_nodename: "" ×8 + 2.89sINFOobjective_server_nodeinstance_id: "" ×8 + 2.89sINFOobjective_server_node ×8 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483468.17162633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713012 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483468.82175541 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788483469.41344404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.19sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788483469.41529322 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679017 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788483470.00436831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788483470.00497174 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620616 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483470.73589182 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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [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 | 6.7s | 37 warnings · 728 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/2026-09-04-00-53-14-681277-9b56ad322a6b-7314 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.58sINFOcontroller_managerupdate rate is 600 Hz + 0.58sINFOcontroller_managerOverruns handling is : enabled + 0.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166195 ms (missed cycles : 3). + 0.79sINFOros2_control_node-1process started with pid [7362] ×2 + 0.79sINFOmove_group-9process started with pid [7403] ×2 + 0.79sINFOparameter_manager_node-10process started with pid [7404] ×2 + 0.79sINFOwaypoint_manager_node-11process started with pid [7405] ×2 + 0.79sINFOmove_joint_resampler_node-12process started with pid [7406] ×2 + 0.79sINFOmove_end_effector_resampler_node-13process started with pid [7407] ×2 + 0.79sINFOobjective_server_node_main-14process started with pid [7408] ×2 + 0.79sINFOcomponent_container_mt-15process started with pid [7409] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [7410] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [7411] ×2 + 0.80sINFOui_teleop_bridge-18process started with pid [7412] ×2 + 0.80sINFOweb_bridge-19process started with pid [7413] ×2 + 0.80sINFOtf2_web_republisher_node-20process started with pid [7478] ×2 + 0.80sINFOvideo_server-21process started with pid [7483] ×2 + 0.80sINFOweb_bridge_auth_proxy-22process started with pid [7490] ×2 + 0.80sINFOweb_video_auth_proxy-23process started with pid [7491] ×2 + 0.80sINFOros2-2process started with pid [7363] ×2 + 0.80sINFOros2-3process started with pid [7364] ×2 + 0.80sINFOros2-4process started with pid [7376] ×2 + 0.80sINFOros2-5process started with pid [7377] ×2 + 0.80sINFOros2-6process started with pid [7378] ×2 + 0.80sINFOros2-7process started with pid [7379] ×2 + 0.80sINFOros2-8process started with pid [7380] ×2 + 0.81sINFOcontroller_managerReceived robot description from topic. + 0.81sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.83sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.84sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.85sWARNros2_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 + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166195 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.85sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.85sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOvideo_server2026/09/04 00:53:16 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.00sINFOvideo_server2026/09/04 00:53:16 INF configuration loaded from /tmp/moveit-webrtc-fhf_yofb/mediamtx.yml ×2 + 1.00sINFOvideo_server2026/09/04 00:53:16 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.00sINFOvideo_server2026/09/04 00:53:16 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.07sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.70sINFOmove_group[2026-09-04 00:53:16.752] [moveit_pro_license] [info] ×2 + 1.70sINFOmove_group************************************************* ×4 + 1.70sINFOmove_group* MoveIt Pro License ×2 + 1.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505708 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505708 ms (missed cycles : 2).[0m ×2 + 1.95sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.98sINFOwaypoint_manager_node[2026-09-04 00:53:17.031] [moveit_pro_license] [info] ×2 + 1.98sINFOwaypoint_manager_node************************************************* ×4 + 1.98sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.98sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.08sINFOros2_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 + 2.08sINFOros2_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 + 2.10sINFOmove_group ×4 + 2.10sINFOmove_group[92mYou can start planning now![0m ×2 + 2.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.33sINFOobjective_server_node[2026-09-04 00:53:18.380] [moveit_pro_license] [info] ×2 + 3.33sINFOobjective_server_node************************************************* ×4 + 3.33sINFOobjective_server_node* MoveIt Pro License ×2 + 3.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.43sINFOobjective_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 + 3.43sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.45sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.52sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.52sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.73sINFOcomponent_container_mt[2026-09-04 00:53:18.780] [moveit_pro_license] [info] ×2 + 3.73sINFOcomponent_container_mt************************************************* ×4 + 3.73sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.73sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.03sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.04sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.04sWARNros2_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 + 4.04sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.04sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.04sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.04sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.04sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.04sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.04sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.04sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.04sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.04sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.04sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.04sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.04sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.04sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.04sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.04sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.04sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.04sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.04sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.04sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.04sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.25sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.25sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.25sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.25sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.25sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 4.25sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 4.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.27sINFOforce_torque_sensor_broadcasterconfigure successful + 4.27sINFOros2_control_nodeconfigure successful[0m ×2 + 4.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.55sINFOros2_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 + 4.55sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.55sWARNros2_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 + 4.57sINFOros2-2process has finished cleanly [pid 7363] ×2 + 4.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 4.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 4.69sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.69sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.69sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.69sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.70sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.72sINFOros2_control_node[2026-09-04 00:53:19.772] [info] Controller state will be published at 10 Hz. ×2 + 4.72sINFOros2_control_node[2026-09-04 00:53:19.773] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 5.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 5.04sINFOros2-7process has finished cleanly [pid 7379] ×2 + 5.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3).[0m ×2 + 5.38sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.38sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.38sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.41sINFOros2-4process has finished cleanly [pid 7376] ×2 + 5.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 5.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 5.49sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.50sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.50sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.50sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.50sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.52sINFOros2_control_node[2026-09-04 00:53:20.573] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.52sINFOros2_control_node[2026-09-04 00:53:20.573] [info] Controller state will be published at 50 Hz. ×2 + 5.53sINFOros2_control_node[2026-09-04 00:53:20.578] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 5.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 5.84sINFOros2-6process has finished cleanly [pid 7378] ×2 + 5.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.15sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.15sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.15sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.15sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.15sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 6.15sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 6.16sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.18sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.18sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.18sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.19sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.19sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3).[0m ×2 + 6.19sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.19sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.20sINFOros2-5process has finished cleanly [pid 7377] ×2 + 6.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.27sINFOobjective_server_nodecaller: ×10 + 6.27sINFOobjective_server_nodetype: 0 ×10 + 6.27sINFOobjective_server_nodename: "" ×10 + 6.27sINFOobjective_server_nodeinstance_id: "" ×10 + 6.27sINFOobjective_server_node ×10 + 6.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483201.37671590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483201.38695025 seconds ×3 + 6.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.53sINFOros2-3process has finished cleanly [pid 7364] ×2 + 6.53sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.53sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.53sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 6.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 6.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.87sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.92sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788483201.97167039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.01sINFOros2-8process has finished cleanly [pid 7380] ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 8.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 8.18sWARNros2_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 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 8.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.59sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 9.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 9.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 372 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7364] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.34sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.34sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.34sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.34sINFOobjective_server_nodecaller: ×12 + 0.34sINFOobjective_server_nodetype: 0 ×12 + 0.35sINFOobjective_server_nodename: "" ×12 + 0.35sINFOobjective_server_nodeinstance_id: "" ×12 + 0.35sINFOobjective_server_node ×12 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788483201.97167039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sINFOros2-8process has finished cleanly [pid 7380] ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.65sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.94sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 7.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.53sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.53sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 7.53sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 481 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.03sINFOros2-6process has finished cleanly [pid 7378] ×2 + 0.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.06sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.34sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3).[0m ×2 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 7377] ×2 + 0.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.46sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.46sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.46sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.46sINFOobjective_server_nodecaller: ×14 + 0.46sINFOobjective_server_nodetype: 0 ×14 + 0.46sINFOobjective_server_nodename: "" ×14 + 0.46sINFOobjective_server_nodeinstance_id: "" ×14 + 0.46sINFOobjective_server_node ×14 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483201.37671590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483201.38695025 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_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 + 0.72sINFOros2-3process has finished cleanly [pid 7364] ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.85sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×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: 1788483201.97167039 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 + 1.20sINFOros2-8process has finished cleanly [pid 7380] ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 2.37sWARNros2_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 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 4.66sWARNros2_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 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.74sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 5.74sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 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/2026-09-04-00-53-14-681277-9b56ad322a6b-7314 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.58sINFOcontroller_managerupdate rate is 600 Hz + 0.58sINFOcontroller_managerOverruns handling is : enabled + 0.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166195 ms (missed cycles : 3). + 0.79sINFOros2_control_node-1process started with pid [7362] ×2 + 0.79sINFOmove_group-9process started with pid [7403] ×2 + 0.79sINFOparameter_manager_node-10process started with pid [7404] ×2 + 0.79sINFOwaypoint_manager_node-11process started with pid [7405] ×2 + 0.79sINFOmove_joint_resampler_node-12process started with pid [7406] ×2 + 0.79sINFOmove_end_effector_resampler_node-13process started with pid [7407] ×2 + 0.79sINFOobjective_server_node_main-14process started with pid [7408] ×2 + 0.79sINFOcomponent_container_mt-15process started with pid [7409] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [7410] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [7411] ×2 + 0.80sINFOui_teleop_bridge-18process started with pid [7412] ×2 + 0.80sINFOweb_bridge-19process started with pid [7413] ×2 + 0.80sINFOtf2_web_republisher_node-20process started with pid [7478] ×2 + 0.80sINFOvideo_server-21process started with pid [7483] ×2 + 0.80sINFOweb_bridge_auth_proxy-22process started with pid [7490] ×2 + 0.80sINFOweb_video_auth_proxy-23process started with pid [7491] ×2 + 0.80sINFOros2-2process started with pid [7363] ×2 + 0.80sINFOros2-3process started with pid [7364] ×2 + 0.80sINFOros2-4process started with pid [7376] ×2 + 0.80sINFOros2-5process started with pid [7377] ×2 + 0.80sINFOros2-6process started with pid [7378] ×2 + 0.80sINFOros2-7process started with pid [7379] ×2 + 0.80sINFOros2-8process started with pid [7380] ×2 + 0.81sINFOcontroller_managerReceived robot description from topic. + 0.81sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.83sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.84sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.85sWARNros2_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 + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166195 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.85sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.85sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOvideo_server2026/09/04 00:53:16 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.00sINFOvideo_server2026/09/04 00:53:16 INF configuration loaded from /tmp/moveit-webrtc-fhf_yofb/mediamtx.yml ×2 + 1.00sINFOvideo_server2026/09/04 00:53:16 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.00sINFOvideo_server2026/09/04 00:53:16 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.07sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.70sINFOmove_group[2026-09-04 00:53:16.752] [moveit_pro_license] [info] ×2 + 1.70sINFOmove_group************************************************* ×4 + 1.70sINFOmove_group* MoveIt Pro License ×2 + 1.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505708 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505708 ms (missed cycles : 2).[0m ×2 + 1.95sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.98sINFOwaypoint_manager_node[2026-09-04 00:53:17.031] [moveit_pro_license] [info] ×2 + 1.98sINFOwaypoint_manager_node************************************************* ×4 + 1.98sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.98sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.08sINFOros2_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 + 2.08sINFOros2_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 + 2.10sINFOmove_group ×4 + 2.10sINFOmove_group[92mYou can start planning now![0m ×2 + 2.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.33sINFOobjective_server_node[2026-09-04 00:53:18.380] [moveit_pro_license] [info] ×2 + 3.33sINFOobjective_server_node************************************************* ×4 + 3.33sINFOobjective_server_node* MoveIt Pro License ×2 + 3.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.43sINFOobjective_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 + 3.43sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.45sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.45sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.52sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.52sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 30 warnings · 516 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.25sINFOros2-4process has finished cleanly [pid 7376] ×2 + 0.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.33sWARNobjective_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 + 0.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.34sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.34sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.36sINFOros2_control_node[2026-09-04 00:53:20.573] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.36sINFOros2_control_node[2026-09-04 00:53:20.573] [info] Controller state will be published at 50 Hz. ×2 + 0.37sINFOros2_control_node[2026-09-04 00:53:20.578] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.65sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.65sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.68sINFOros2-6process has finished cleanly [pid 7378] ×2 + 0.70sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.71sINFOros2_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 + 0.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.72sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.99sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.99sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.99sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.99sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3).[0m ×2 + 1.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOros2-5process has finished cleanly [pid 7377] ×2 + 1.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483201.37671590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483201.38695025 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.37sINFOros2-3process has finished cleanly [pid 7364] ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 1.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.50sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 1.50sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788483201.97167039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.85sINFOros2-8process has finished cleanly [pid 7380] ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 3.02sWARNros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 5.31sWARNros2_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 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 6.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.39sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 30 warnings · 516 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.25sINFOros2-4process has finished cleanly [pid 7376] ×2 + 0.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.33sWARNobjective_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 + 0.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.34sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.34sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.36sINFOros2_control_node[2026-09-04 00:53:20.573] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.36sINFOros2_control_node[2026-09-04 00:53:20.573] [info] Controller state will be published at 50 Hz. ×2 + 0.37sINFOros2_control_node[2026-09-04 00:53:20.578] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.65sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.65sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.68sINFOros2-6process has finished cleanly [pid 7378] ×2 + 0.70sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.71sINFOros2_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 + 0.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.72sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.99sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.99sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.99sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.99sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3).[0m ×2 + 1.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOros2-5process has finished cleanly [pid 7377] ×2 + 1.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483201.37671590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483201.38695025 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.37sINFOros2-3process has finished cleanly [pid 7364] ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 1.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.50sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 1.50sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788483201.97167039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.85sINFOros2-8process has finished cleanly [pid 7380] ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 3.02sWARNros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 5.31sWARNros2_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 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 6.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.39sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 30 warnings · 516 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438383 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.25sINFOros2-4process has finished cleanly [pid 7376] ×2 + 0.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.33sWARNobjective_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 + 0.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.34sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.34sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_node[2026-09-04 00:53:20.550] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.36sINFOros2_control_node[2026-09-04 00:53:20.573] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.36sINFOros2_control_node[2026-09-04 00:53:20.573] [info] Controller state will be published at 50 Hz. ×2 + 0.37sINFOros2_control_node[2026-09-04 00:53:20.578] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.65sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.65sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.68sINFOros2-6process has finished cleanly [pid 7378] ×2 + 0.70sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.71sINFOros2_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 + 0.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.72sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.99sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.99sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.99sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.99sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3).[0m ×2 + 1.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOros2-5process has finished cleanly [pid 7377] ×2 + 1.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483201.37671590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483201.38695025 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.37sINFOros2-3process has finished cleanly [pid 7364] ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 1.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 1.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.50sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 1.50sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788483201.97167039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.85sINFOros2-8process has finished cleanly [pid 7380] ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 3.02sWARNros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 5.31sWARNros2_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 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 6.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.39sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 481 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.03sINFOros2-6process has finished cleanly [pid 7378] ×2 + 0.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.06sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.34sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079983 ms (missed cycles : 3).[0m ×2 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 7377] ×2 + 0.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.46sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.46sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.46sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.46sINFOobjective_server_nodecaller: ×14 + 0.46sINFOobjective_server_nodetype: 0 ×14 + 0.46sINFOobjective_server_nodename: "" ×14 + 0.46sINFOobjective_server_nodeinstance_id: "" ×14 + 0.46sINFOobjective_server_node ×14 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483201.37671590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483201.38695025 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_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 + 0.72sINFOros2-3process has finished cleanly [pid 7364] ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.85sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×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: 1788483201.97167039 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 + 1.20sINFOros2-8process has finished cleanly [pid 7380] ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 2.37sWARNros2_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 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 4.66sWARNros2_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 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.74sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 5.74sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 356 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7364] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rbh3_8_k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qmrlu13h --params-file /tmp/launch_params_kja8yofh [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 00:53:21.712] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 00:53:21.713] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.34sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.34sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.34sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.34sINFOobjective_server_nodecaller: ×12 + 0.34sINFOobjective_server_nodetype: 0 ×12 + 0.35sINFOobjective_server_nodename: "" ×12 + 0.35sINFOobjective_server_nodeinstance_id: "" ×12 + 0.35sINFOobjective_server_node ×12 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788483201.97167039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7380] ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.65sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.94sWARNros2_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 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141214 ms (missed cycles : 5).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788483203.08182359 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sWARNros2_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 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663739 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788483203.68992949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788483203.75011635 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483204.40172672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483204.42184234 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017200 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483205.00765324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483205.15817213 seconds ×3 + 3.07sWARNros2_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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483205.82867289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724221 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483205.87879229 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788483206.47610259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.5258e-05 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-04 00:53:26.602] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849129 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097943 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885765 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-04 00:53:29.110] [info] Accepted new action goal ×2 | ||||