122
Total objective tests
32
Objectives passed
0
Objectives failed
90
Objectives skipped
8.8s
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 | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 151 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: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 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 + 3.90sINFOobjective_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 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 7.09sINFOros2_control_node[2026-09-04 01:17:36.913] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-09-04 01:17:36.913] [info] Accepted new action goal ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694220 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694220 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891798 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891798 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306677 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306677 ms (missed cycles : 2).[0m ×2 + 10.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.36sINFOros2_control_node[2026-09-04 01:17:40.184] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-09-04 01:17:40.184] [info] Accepted new action goal ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097562 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097562 ms (missed cycles : 2).[0m ×2 + 10.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336298 ms (missed cycles : 4). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336298 ms (missed cycles : 4).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273091 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273091 ms (missed cycles : 2).[0m ×2 + 13.33sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.39sINFOros2_control_node[2026-09-04 01:17:43.217] [info] Received new action goal ×2 + 13.39sINFOros2_control_node[2026-09-04 01:17:43.217] [info] Accepted new action goal ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870278 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870278 ms (missed cycles : 2).[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030693 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030693 ms (missed cycles : 3).[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453156 ms (missed cycles : 3). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453156 ms (missed cycles : 3).[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 + 16.36sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.36sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372051 ms (missed cycles : 3). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372051 ms (missed cycles : 3).[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731980 ms (missed cycles : 3). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731980 ms (missed cycles : 3).[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958510 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958510 ms (missed cycles : 2).[0m ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114056 ms (missed cycles : 5). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114056 ms (missed cycles : 5).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971219 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971219 ms (missed cycles : 2).[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.175949 ms (missed cycles : 5). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.175949 ms (missed cycles : 5).[0m ×2 + 23.00sWARNros2_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 + 23.14sINFOobjective_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 + 23.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.14sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398007 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398007 ms (missed cycles : 2).[0m ×2 + 24.07sINFOros2_control_node[2026-09-04 01:17:53.892] [info] Received new action goal ×2 + 24.07sINFOros2_control_node[2026-09-04 01:17:53.892] [info] Accepted new action goal ×2 + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.992831 ms (missed cycles : 5). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.992831 ms (missed cycles : 5).[0m ×2 + 25.23sINFOobjective_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 + 25.24sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.52sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 25.52sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.57sINFOros2_control_node[2026-09-04 01:17:55.396] [info] Received new action goal ×2 + 25.57sINFOros2_control_node[2026-09-04 01:17:55.396] [info] Accepted new action goal ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587682 ms (missed cycles : 5). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587682 ms (missed cycles : 5).[0m ×2 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998297 ms (missed cycles : 5). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998297 ms (missed cycles : 5).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040084 ms (missed cycles : 2). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040084 ms (missed cycles : 2).[0m ×2 + 27.70sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 27.70sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.72sINFOros2_control_node[2026-09-04 01:17:57.543] [info] Received new action goal ×2 + 27.72sINFOros2_control_node[2026-09-04 01:17:57.543] [info] Accepted new action goal ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802138 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802138 ms (missed cycles : 3).[0m ×2 + 29.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×6 + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542571 ms (missed cycles : 4). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542571 ms (missed cycles : 4).[0m ×2 + 30.85sINFOros2_control_node[2026-09-04 01:18:00.672] [info] Received new action goal ×2 + 30.85sINFOros2_control_node[2026-09-04 01:18:00.672] [info] Accepted new action goal ×2 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903921 ms (missed cycles : 4). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903921 ms (missed cycles : 4).[0m ×2 + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980672 ms (missed cycles : 5). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980672 ms (missed cycles : 5).[0m ×2 + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544927 ms (missed cycles : 3). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544927 ms (missed cycles : 3).[0m ×2 + 33.44sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 33.45sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.49sINFOros2_control_node[2026-09-04 01:18:03.316] [info] Received new action goal ×2 + 33.49sINFOros2_control_node[2026-09-04 01:18:03.316] [info] Accepted new action goal ×2 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325947 ms (missed cycles : 4). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325947 ms (missed cycles : 4).[0m ×2 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739957 ms (missed cycles : 3). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739957 ms (missed cycles : 3).[0m ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201002 ms (missed cycles : 3). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201002 ms (missed cycles : 3).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266558 ms (missed cycles : 4). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266558 ms (missed cycles : 4).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528322 ms (missed cycles : 2). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528322 ms (missed cycles : 2).[0m ×2 + 39.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246021 ms (missed cycles : 4). + 39.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246021 ms (missed cycles : 4).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298969 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298969 ms (missed cycles : 2).[0m ×2 + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 42.26sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795913 ms (missed cycles : 5). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795913 ms (missed cycles : 5).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375631 ms (missed cycles : 4). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375631 ms (missed cycles : 4).[0m ×2 + 44.14sINFOros2_control_node[2026-09-04 01:18:13.962] [info] Received new action goal ×2 + 44.14sINFOros2_control_node[2026-09-04 01:18:13.962] [info] Accepted new action goal ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786864 ms (missed cycles : 5). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786864 ms (missed cycles : 5).[0m ×2 + 45.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788484695.11884665 seconds ×3 + 45.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.89sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305491 ms (missed cycles : 2). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305491 ms (missed cycles : 2).[0m ×2 + 46.07sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788484695.89497375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.01sWARNros2_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 + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837652 ms (missed cycles : 3). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837652 ms (missed cycles : 3).[0m ×2 + 47.29sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 47.31sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.32sINFOros2_control_node[2026-09-04 01:18:17.140] [info] Received new action goal ×2 + 47.32sINFOros2_control_node[2026-09-04 01:18:17.140] [info] Accepted new action goal ×2 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724273 ms (missed cycles : 3). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724273 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 42.1s | 6 errors · 155 warnings · 16524 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407586 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407586 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113950 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113950 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841548 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841548 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788484706.88514423 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788484707.49200439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.18sINFOros2_control_node[2026-09-04 01:18:27.665] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-04 01:18:27.665] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519612 ms (missed cycles : 6). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519612 ms (missed cycles : 6).[0m ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327364 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327364 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.46sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992062 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992062 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal ×2710 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal ×2709 + 6.63sINFOros2_control_nodeReceived new action goal[0m ×5420 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×5418 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314563 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314563 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679641 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679641 ms (missed cycles : 2).[0m ×2 + 8.91sINFOjoint_trajectory_controllerGoal reached, success! + 8.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1788484711.104844) that ends in the past (1788484713.634844) + 9.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1788484711.104844) that ends in the past (1788484713.634844)[0m ×2 + 9.16sERRORobjective_server_nodeMPCSphereClearance Error: The trajectory controller at '/joint_trajectory_controller/follow_joint_trajectory' rejected a streamed MPC trajectory goal. Check the controller's log for the rejection reason. ×3 + 9.17sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 9.17sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 9.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 9.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 9.18sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 9.29sWARNros2_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 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.249586 ms (missed cycles : 11). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.249586 ms (missed cycles : 11).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817789 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817789 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019055 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019055 ms (missed cycles : 2).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199268 ms (missed cycles : 4). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199268 ms (missed cycles : 4).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992020 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992020 ms (missed cycles : 2).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671237 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671237 ms (missed cycles : 2).[0m ×2 + 15.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828060 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828060 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080457 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080457 ms (missed cycles : 2).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170038 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170038 ms (missed cycles : 2).[0m ×2 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080513 ms (missed cycles : 4). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080513 ms (missed cycles : 4).[0m ×2 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992587 ms (missed cycles : 2). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992587 ms (missed cycles : 2).[0m ×2 + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734668 ms (missed cycles : 2). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734668 ms (missed cycles : 2).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782756 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782756 ms (missed cycles : 2).[0m ×2 + 22.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132191 ms (missed cycles : 2). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132191 ms (missed cycles : 2).[0m ×2 + 23.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703054 ms (missed cycles : 2). + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703054 ms (missed cycles : 2).[0m ×2 + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860301 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860301 ms (missed cycles : 2).[0m ×2 + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820252 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820252 ms (missed cycles : 2).[0m ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788009 ms (missed cycles : 2). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788009 ms (missed cycles : 2).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234066 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234066 ms (missed cycles : 2).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837297 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837297 ms (missed cycles : 2).[0m ×2 + 29.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947353 ms (missed cycles : 2). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947353 ms (missed cycles : 2).[0m ×2 + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725824 ms (missed cycles : 2). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725824 ms (missed cycles : 2).[0m ×2 + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677605 ms (missed cycles : 2). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677605 ms (missed cycles : 2).[0m ×2 + 33.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714298 ms (missed cycles : 2). + 33.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714298 ms (missed cycles : 2).[0m ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129352 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129352 ms (missed cycles : 2).[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229217 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229217 ms (missed cycles : 2).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772120 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772120 ms (missed cycles : 2).[0m ×2 + 36.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726902 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726902 ms (missed cycles : 2).[0m ×2 + 38.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476597 ms (missed cycles : 2). + 38.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476597 ms (missed cycles : 2).[0m ×2 + 39.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137093 ms (missed cycles : 2). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137093 ms (missed cycles : 2).[0m ×2 + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735140 ms (missed cycles : 2). + 40.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735140 ms (missed cycles : 2).[0m ×2 + 41.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756172 ms (missed cycles : 2). + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756172 ms (missed cycles : 2).[0m ×2 + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683305 ms (missed cycles : 2). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683305 ms (missed cycles : 2).[0m ×2 + 43.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789843 ms (missed cycles : 2). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789843 ms (missed cycles : 2).[0m ×2 + 43.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327926 ms (missed cycles : 2). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327926 ms (missed cycles : 2).[0m ×2 + 44.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484748.96656370 seconds ×3 + 44.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.02sINFOobjective_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: ""
+ 45.02sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788484749.59816837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.16sINFOobjective_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 + 45.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.26sINFOobjective_server_nodeFound path in 0 iterations (6.03e-07 s). ×2 + 45.26sINFOros2_control_node[2026-09-04 01:19:09.752] [info] Received new action goal ×2 + 45.26sINFOros2_control_node[2026-09-04 01:19:09.752] [info] Accepted new action goal ×2 + 45.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509027 ms (missed cycles : 2). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509027 ms (missed cycles : 2).[0m ×2 + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584149 ms (missed cycles : 4). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584149 ms (missed cycles : 4).[0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692545 ms (missed cycles : 2). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692545 ms (missed cycles : 2).[0m ×2 + 47.59sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[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 | 97 warnings · 13086 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2148 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2148 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4296 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4296 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756172 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756172 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683305 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683305 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789843 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789843 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327926 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327926 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484748.96656370 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.83sINFOobjective_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: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788484749.59816837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (6.03e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-09-04 01:19:09.752] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 01:19:09.752] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509027 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509027 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584149 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584149 ms (missed cycles : 4).[0m ×2 + 5.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.37sINFOobjective_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 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692545 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692545 ms (missed cycles : 2).[0m ×2 + 6.40sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837349 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837349 ms (missed cycles : 2).[0m ×2 + 7.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813692 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813692 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100609 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100609 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067390 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067390 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931729 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931729 ms (missed cycles : 2).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219997 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219997 ms (missed cycles : 3).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626276 ms (missed cycles : 3). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626276 ms (missed cycles : 3).[0m ×2 + 14.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674414 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674414 ms (missed cycles : 2).[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991668 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991668 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174282 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174282 ms (missed cycles : 2).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745272 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745272 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729034 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729034 ms (missed cycles : 2).[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572660 ms (missed cycles : 2). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572660 ms (missed cycles : 2).[0m ×2 + 20.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032141 ms (missed cycles : 2). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032141 ms (missed cycles : 2).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773157 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773157 ms (missed cycles : 2).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4).[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2).[0m ×2 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2).[0m ×2 + 25.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484771.07779503 seconds ×3 + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2).[0m ×2 + 26.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788484771.79062581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.30sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.32sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Accepted new action goal ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5).[0m ×2 + 26.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932636 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932636 ms (missed cycles : 5).[0m ×2 + 0.98sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 0.98sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.98sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250529 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250529 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.11sINFOobjective_server_nodeFound path in 1 iterations (0.00320969 s). ×2 + 1.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.34sINFOros2_control_node[2026-09-04 01:17:14.977] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-09-04 01:17:14.977] [info] Accepted new action goal ×2 + 1.74sINFOros2_control_node[2026-09-04 01:17:15.379] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-04 01:17:15.379] [info] Accepted new action goal ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690381 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690381 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOros2_control_node[2026-09-04 01:17:16.651] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-09-04 01:17:16.651] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484636.66009092 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338790 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338790 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.57sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.57sINFOobjective_server_nodecaller: ×6 + 3.57sINFOobjective_server_nodetype: 0 ×6 + 3.57sINFOobjective_server_nodename: "" ×6 + 3.57sINFOobjective_server_nodeinstance_id: "" ×6 + 3.57sINFOobjective_server_node ×6 + 3.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788484637.30615664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 01:17:17.490] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 01:17:17.490] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160731 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160731 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948024 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948024 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923945 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923945 ms (missed cycles : 4).[0m ×2 + 6.36sINFOros2_control_node[2026-09-04 01:17:19.996] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:17:19.996] [info] Accepted new action goal ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317436 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317436 ms (missed cycles : 2).[0m ×2 + 8.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147205 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147205 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089359 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089359 ms (missed cycles : 3).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693985 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693985 ms (missed cycles : 2).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690111 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690111 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970711 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970711 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765197 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765197 ms (missed cycles : 2).[0m ×2 + 14.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885205 ms (missed cycles : 5). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885205 ms (missed cycles : 5).[0m ×2 + 14.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788484648.55631042 seconds ×3 + 15.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.53sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788484649.21687102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788484649.27701926 seconds ×3 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123220 ms (missed cycles : 4). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123220 ms (missed cycles : 4).[0m ×2 + 16.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.19sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.24sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.35sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 16.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.36sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 16.36sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 18.36sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795913 ms (missed cycles : 5). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795913 ms (missed cycles : 5).[0m ×2 + 0.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375631 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375631 ms (missed cycles : 4).[0m ×2 + 1.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.88sINFOros2_control_node[2026-09-04 01:18:13.962] [info] Received new action goal ×2 + 1.88sINFOros2_control_node[2026-09-04 01:18:13.962] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786864 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786864 ms (missed cycles : 5).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788484695.11884665 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305491 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305491 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788484695.89497375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNros2_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 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837652 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837652 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.06sINFOros2_control_node[2026-09-04 01:18:17.140] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-09-04 01:18:17.140] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724273 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724273 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800927 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800927 ms (missed cycles : 5).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636266 ms (missed cycles : 6). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636266 ms (missed cycles : 6).[0m ×2 + 8.76sINFOobjective_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 + 8.76sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.76sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.76sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.76sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204662 ms (missed cycles : 4). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204662 ms (missed cycles : 4).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009462 ms (missed cycles : 5). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009462 ms (missed cycles : 5).[0m ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 11.19sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285579 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285579 ms (missed cycles : 2).[0m ×2 + 11.20sINFOros2_control_node[2026-09-04 01:18:23.280] [info] Received new action goal ×2 + 11.20sINFOros2_control_node[2026-09-04 01:18:23.280] [info] Accepted new action goal ×2 + 11.36sWARNros2_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 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407586 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407586 ms (missed cycles : 2).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113950 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113950 ms (missed cycles : 2).[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841548 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841548 ms (missed cycles : 2).[0m ×2 + 14.80sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788484706.88514423 seconds ×3 + 15.35sINFOobjective_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: ""
+ 15.35sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788484707.49200439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.57sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 15.57sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.59sINFOros2_control_node[2026-09-04 01:18:27.665] [info] Received new action goal ×2 + 15.59sINFOros2_control_node[2026-09-04 01:18:27.665] [info] Accepted new action goal ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519612 ms (missed cycles : 6). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519612 ms (missed cycles : 6).[0m ×2 + 16.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327364 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327364 ms (missed cycles : 2).[0m ×2 + 16.86sINFOobjective_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 + 16.87sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388570 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.95sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788484623.70542979 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358508 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358508 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.410346 ms (missed cycles : 7). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.410346 ms (missed cycles : 7).[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788484626.17115283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.743754 ms (missed cycles : 6). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.743754 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 01:17:06.375] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 01:17:06.375] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780103 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780103 ms (missed cycles : 5).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237042 ms (missed cycles : 5). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237042 ms (missed cycles : 5).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897278 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897278 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.738925 ms (missed cycles : 6). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.738925 ms (missed cycles : 6).[0m ×2 + 8.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.13sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×4 + 8.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 1 iterations (0.00293542 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 2 iterations (0.00581308 s). ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731471 ms (missed cycles : 5). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731471 ms (missed cycles : 5).[0m ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 1 iterations (0.00337979 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.09sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.35sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.36sINFOros2_control_node[2026-09-04 01:17:12.088] [info] Received new action goal ×2 + 9.36sINFOros2_control_node[2026-09-04 01:17:12.088] [info] Accepted new action goal ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298483 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298483 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932636 ms (missed cycles : 5). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932636 ms (missed cycles : 5).[0m ×2 + 11.89sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 11.89sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.89sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 11.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.91sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250529 ms (missed cycles : 4). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250529 ms (missed cycles : 4).[0m ×2 + 12.00sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 12.02sINFOobjective_server_nodeFound path in 1 iterations (0.00320969 s). ×2 + 12.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.25sINFOros2_control_node[2026-09-04 01:17:14.977] [info] Received new action goal ×2 + 12.25sINFOros2_control_node[2026-09-04 01:17:14.977] [info] Accepted new action goal ×2 + 12.65sINFOros2_control_node[2026-09-04 01:17:15.379] [info] Received new action goal ×2 + 12.65sINFOros2_control_node[2026-09-04 01:17:15.379] [info] Accepted new action goal ×2 + 12.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690381 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690381 ms (missed cycles : 2).[0m ×2 + 13.92sINFOobjective_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 + 13.93sINFOros2_control_node[2026-09-04 01:17:16.651] [info] Got request to cancel active goal. ×2 + 13.93sINFOros2_control_node[2026-09-04 01:17:16.651] [info] Canceling active goal... ×2 + 13.93sERRORobjective_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: 1788484636.66009092 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338790 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338790 ms (missed cycles : 2).[0m ×2 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788484637.30615664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOros2_control_node[2026-09-04 01:17:17.490] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-04 01:17:17.490] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160731 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160731 ms (missed cycles : 4).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948024 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948024 ms (missed cycles : 2).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923945 ms (missed cycles : 4). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923945 ms (missed cycles : 4).[0m ×2 + 17.27sINFOros2_control_node[2026-09-04 01:17:19.996] [info] Received new action goal ×2 + 17.27sINFOros2_control_node[2026-09-04 01:17:19.996] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 57 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788484602.84818935 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.77sINFOobjective_server_nodecaller: ×6 + 2.77sINFOobjective_server_nodetype: 0 ×6 + 2.77sINFOobjective_server_nodename: "" ×6 + 2.77sINFOobjective_server_nodeinstance_id: "" ×6 + 2.77sINFOobjective_server_node ×6 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788484603.46791196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788484603.53803444 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788484604.18001628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.04sINFOros2_control_node[2026-09-04 01:16:47.664] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-09-04 01:16:47.664] [info] Accepted new action goal ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051122 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051122 ms (missed cycles : 3).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803856 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803856 ms (missed cycles : 2).[0m ×2 + 9.38sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 9.39sINFOros2_control_node[2026-09-04 01:16:50.011] [info] Received new action goal ×2 + 9.39sINFOros2_control_node[2026-09-04 01:16:50.011] [info] Accepted new action goal ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.956766 ms (missed cycles : 6). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.956766 ms (missed cycles : 6).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 11.75sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 13.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sERRORobjective_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: 1788484614.62015152 seconds ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 14.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.57sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.63sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 14.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.85sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 14.85sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 16.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554842 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554842 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025856 ms (missed cycles : 5). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025856 ms (missed cycles : 5).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740525 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740525 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137949 ms (missed cycles : 5). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137949 ms (missed cycles : 5).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521540 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521540 ms (missed cycles : 2).[0m ×2 + 12.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996751 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996751 ms (missed cycles : 2).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698927 ms (missed cycles : 4). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698927 ms (missed cycles : 4).[0m ×2 + 14.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sERRORobjective_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: 1788484793.05636239 seconds ×3 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.94sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788484793.65749550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811436 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811436 ms (missed cycles : 2).[0m ×2 + 15.25sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 15.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.27sINFOros2_control_node[2026-09-04 01:19:53.986] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-09-04 01:19:53.986] [info] Accepted new action goal ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505218 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505218 ms (missed cycles : 3).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052727 ms (missed cycles : 4). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052727 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688813 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688813 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582699 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582699 ms (missed cycles : 3).[0m ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.93sINFOros2_control_node[2026-09-04 01:16:19.682] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-09-04 01:16:19.682] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696347 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696347 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-04 01:16:20.158] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-04 01:16:20.158] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788484580.17786551 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.97sINFOobjective_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: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.97sINFOobjective_server_nodecaller: ×6 + 2.97sINFOobjective_server_nodetype: 0 ×6 + 2.97sINFOobjective_server_nodename: "" ×6 + 2.97sINFOobjective_server_nodeinstance_id: "" ×6 + 2.97sINFOobjective_server_node ×6 + 3.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788484580.78535485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180502 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180502 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-04 01:16:21.011] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-04 01:16:21.011] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743612 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743612 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745253 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745253 ms (missed cycles : 2).[0m ×2 + 5.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.53sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.55sINFOros2_control_node[2026-09-04 01:16:23.299] [info] Received new action goal ×2 + 5.55sINFOros2_control_node[2026-09-04 01:16:23.299] [info] Accepted new action goal ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.276238 ms (missed cycles : 8). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.276238 ms (missed cycles : 8).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.101639 ms (missed cycles : 7). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.101639 ms (missed cycles : 7).[0m ×2 + 8.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.160190 ms (missed cycles : 7). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.160190 ms (missed cycles : 7).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494312 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494312 ms (missed cycles : 2).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 13.40sERRORobjective_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: 1788484591.15594220 seconds ×3 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 15.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.02sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[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 3.044676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044676 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444634 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444634 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515349 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515349 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.644039 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.644039 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788484803.58989358 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.92sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.92sINFOobjective_server_nodecaller: ×8 + 3.92sINFOobjective_server_nodetype: 0 ×8 + 3.92sINFOobjective_server_nodename: "" ×8 + 3.92sINFOobjective_server_nodeinstance_id: "" ×8 + 3.92sINFOobjective_server_node ×8 + 3.98sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788484804.23975015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 01:20:04.363] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 01:20:04.363] [info] Accepted new action goal ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805139 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805139 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712673 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712673 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578683 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578683 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023115 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023115 ms (missed cycles : 4).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934431 ms (missed cycles : 4). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934431 ms (missed cycles : 4).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162509 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162509 ms (missed cycles : 4).[0m ×2 + 10.35sWARNros2_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 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783474 ms (missed cycles : 5). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783474 ms (missed cycles : 5).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2).[0m ×2 + 11.82sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[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 + 14.29sERRORobjective_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: 1788484814.55000901 seconds ×3 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 15.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.55sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.60sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOobjective_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 + 15.62sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 16.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.33sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 16.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.34sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 16.34sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 16.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.9s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1788484591.15594220 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.99sINFOobjective_server_nodecaller: ×8 + 2.99sINFOobjective_server_nodetype: 0 ×8 + 2.99sINFOobjective_server_nodename: "" ×8 + 2.99sINFOobjective_server_nodeinstance_id: "" ×8 + 2.99sINFOobjective_server_node ×8 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400468 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400468 ms (missed cycles : 3).[0m ×2 + 8.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.04sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.47sINFOobjective_server_nodeFound path in 1 iterations (0.00323181 s). ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804319 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804319 ms (missed cycles : 2).[0m ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.68sINFOros2_control_node[2026-09-04 01:16:37.487] [info] Received new action goal ×2 + 8.68sINFOros2_control_node[2026-09-04 01:16:37.487] [info] Accepted new action goal ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805124 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805124 ms (missed cycles : 3).[0m ×2 + 9.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649169 ms (missed cycles : 6). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649169 ms (missed cycles : 6).[0m ×2 + 10.99sINFOros2_control_node[2026-09-04 01:16:39.789] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-09-04 01:16:39.789] [info] Accepted new action goal ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2).[0m ×2 + 12.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.76sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Received new action goal ×2 + 12.76sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Accepted new action goal ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2).[0m ×2 + 14.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788484602.84818935 seconds ×3 + 14.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788484603.46791196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788484603.53803444 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4).[0m ×2 + 15.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.33sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788484604.18001628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.49sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 15.50sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.51sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Received new action goal ×2 + 15.51sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Accepted new action goal ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.61sINFOobjective_server_nodecaller: ×12 + 0.61sINFOobjective_server_nodetype: 0 ×12 + 0.61sINFOobjective_server_nodename: "" ×12 + 0.61sINFOobjective_server_nodeinstance_id: "" ×12 + 0.61sINFOobjective_server_node ×12 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.66sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 5.71sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.17sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Accepted new action goal ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768219 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768219 ms (missed cycles : 3).[0m ×2 + 7.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740844 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740844 ms (missed cycles : 2).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275153 ms (missed cycles : 4). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275153 ms (missed cycles : 4).[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 9.97sINFOros2_control_node[2026-09-04 01:16:16.342] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-09-04 01:16:16.342] [info] Accepted new action goal ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577347 ms (missed cycles : 6). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577347 ms (missed cycles : 6).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688813 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688813 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582699 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582699 ms (missed cycles : 3).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.31sINFOros2_control_node[2026-09-04 01:16:19.682] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-09-04 01:16:19.682] [info] Accepted new action goal ×2 + 13.32sWARNros2_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 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696347 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696347 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_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 + 13.79sINFOros2_control_node[2026-09-04 01:16:20.158] [info] Got request to cancel active goal. ×2 + 13.79sINFOros2_control_node[2026-09-04 01:16:20.158] [info] Canceling active goal... ×2 + 13.81sERRORobjective_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: 1788484580.17786551 seconds ×3 + 13.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788484580.78535485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180502 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180502 ms (missed cycles : 3).[0m ×2 + 14.62sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 14.64sINFOros2_control_node[2026-09-04 01:16:21.011] [info] Received new action goal ×2 + 14.64sINFOros2_control_node[2026-09-04 01:16:21.011] [info] Accepted new action goal ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743612 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743612 ms (missed cycles : 2).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745253 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745253 ms (missed cycles : 2).[0m ×2 + 16.91sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 16.91sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.93sINFOros2_control_node[2026-09-04 01:16:23.299] [info] Received new action goal ×2 + 16.93sINFOros2_control_node[2026-09-04 01:16:23.299] [info] Accepted new action goal ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.276238 ms (missed cycles : 8). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.276238 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 57 warnings · 2220 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484771.07779503 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788484771.79062581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136293 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136293 ms (missed cycles : 2).[0m ×2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.94sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 1 iterations (0.00337024 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.61sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.63sINFOros2_control_node[2026-09-04 01:19:36.418] [info] Received new action goal ×2 + 8.63sINFOros2_control_node[2026-09-04 01:19:36.418] [info] Accepted new action goal ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522100 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522100 ms (missed cycles : 3).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606277 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606277 ms (missed cycles : 3).[0m ×2 + 10.93sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 10.93sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 10.94sWARNros2_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 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 12.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.70sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 12.70sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 13.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 14.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 15.10sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 17.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 55 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735249 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735249 ms (missed cycles : 2).[0m ×2 + 8.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.31sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 1 iterations (0.00283421 s). ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732349 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732349 ms (missed cycles : 2).[0m ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 2 iterations (0.00505677 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 9.12sINFOobjective_server_nodeFound path in 1 iterations (0.00340885 s). ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.55sINFOros2_control_node[2026-09-04 01:17:01.142] [info] Received new action goal ×2 + 9.55sINFOros2_control_node[2026-09-04 01:17:01.142] [info] Accepted new action goal ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516830 ms (missed cycles : 6). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516830 ms (missed cycles : 6).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388570 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388570 ms (missed cycles : 2).[0m ×2 + 11.81sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.08sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.08sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.08sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788484623.70542979 seconds ×3 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358508 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358508 ms (missed cycles : 2).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.410346 ms (missed cycles : 7). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.410346 ms (missed cycles : 7).[0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.57sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788484626.17115283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.743754 ms (missed cycles : 6). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.743754 ms (missed cycles : 6).[0m ×2 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 14.78sINFOros2_control_node[2026-09-04 01:17:06.375] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-04 01:17:06.375] [info] Accepted new action goal ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780103 ms (missed cycles : 5). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780103 ms (missed cycles : 5).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237042 ms (missed cycles : 5). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237042 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.15sINFOobjective_server_nodecaller: ×14 + 2.15sINFOobjective_server_nodetype: 0 ×14 + 2.15sINFOobjective_server_nodename: "" ×14 + 2.15sINFOobjective_server_nodeinstance_id: "" ×14 + 2.15sINFOobjective_server_node ×14 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.91sINFOros2_control_node[2026-09-04 01:20:19.900] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-04 01:20:19.901] [info] Accepted new action goal ×2 + 6.91sINFOros2_control_node[2026-09-04 01:20:19.901] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.708108 ms (missed cycles : 6). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.708108 ms (missed cycles : 6).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494548 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494548 ms (missed cycles : 2).[0m ×2 + 8.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466715 ms (missed cycles : 6). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466715 ms (missed cycles : 6).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523825 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523825 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459515 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459515 ms (missed cycles : 3).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6).[0m ×2 + 13.56sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Got request to cancel active goal. ×2 + 13.56sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Canceling active goal... ×2 + 13.57sERRORobjective_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: 1788484826.56174088 seconds ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 14.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484827.16722035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3).[0m ×2 + 15.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484828.13735008 seconds ×3 + 15.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.68sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788484828.73180938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.74sINFOobjective_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 + 15.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788484828.73386836 seconds ×3 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4).[0m ×2 + 16.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.28sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788484829.34127831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788484829.34212255 seconds ×3 + 17.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.02sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484830.06198239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521540 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521540 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996751 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996751 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698927 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698927 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.51sERRORobjective_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: 1788484793.05636239 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788484793.65749550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811436 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:19:53.986] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:19:53.986] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505218 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505218 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052727 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052727 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325401 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325401 ms (missed cycles : 4).[0m ×2 + 7.26sWARNros2_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 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114063 ms (missed cycles : 4). + 7.46sINFOros2_control_node[2026-09-04 01:19:58.007] [info] Received new action goal ×2 + 7.46sINFOros2_control_node[2026-09-04 01:19:58.007] [info] Accepted new action goal ×2 + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114063 ms (missed cycles : 4).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409533 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409533 ms (missed cycles : 3).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044676 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044676 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444634 ms (missed cycles : 4). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444634 ms (missed cycles : 4).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515349 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515349 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.644039 ms (missed cycles : 6). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.644039 ms (missed cycles : 6).[0m ×2 + 13.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788484803.58989358 seconds ×3 + 13.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.63sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.69sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788484804.23975015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.81sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 13.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.82sINFOros2_control_node[2026-09-04 01:20:04.363] [info] Received new action goal ×2 + 13.82sINFOros2_control_node[2026-09-04 01:20:04.363] [info] Accepted new action goal ×2 + 13.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805139 ms (missed cycles : 4). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805139 ms (missed cycles : 4).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712673 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712673 ms (missed cycles : 2).[0m ×2 + 15.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578683 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578683 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 9.0s | 51 errors · 39 warnings · 363 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484826.56174088 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484827.16722035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484828.13735008 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.18sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788484828.73180938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.18sINFOobjective_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 + 2.18sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.18sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788484828.73386836 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788484829.34127831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788484829.34212255 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484830.06198239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4).[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437863 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437863 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788484831.30210471 seconds ×3 + 4.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643212 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643212 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511574 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511574 ms (missed cycles : 3).[0m ×2 + 6.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998857 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998857 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875206 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875206 ms (missed cycles : 2).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.606094 ms (missed cycles : 4). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.606094 ms (missed cycles : 4).[0m ×2 + 10.29sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.30sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.31sERRORweb_video_auth_proxy-23process has died [pid 7428, 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 + 10.31sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.31sERRORweb_bridge_auth_proxy-22process has died [pid 7427, 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 + 10.31sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.31sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.32sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.32sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.32sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.33sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.33sINFOvideo_server-21process has finished cleanly [pid 7426] ×2 + 10.34sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.34sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.35sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.35sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.35sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.36sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.37sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.37sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.37sINFOvideo_server2026/09/04 01:20:36 INF shutting down gracefully ×2 + 10.37sINFOvideo_server2026/09/04 01:20:36 INF [WebRTC] closing ×2 + 10.37sINFOvideo_server2026/09/04 01:20:36 INF [RTSP] closing ×2 + 10.37sINFOvideo_server2026/09/04 01:20:36 INF waiting for running hooks ×2 + 10.37sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOcontroller_managerShutdown request received.... + 10.37sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.37sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.37sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.37sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.37sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.37sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.37sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.37sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.37sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.37sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.37sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.37sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.37sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.37sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.37sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.37sINFOcontroller_managerShutting down the controller manager. + 10.37sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.37sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.37sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.38sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.53sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7425] ×2 + 10.53sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.57sINFOcomponent_container_mt-16process has finished cleanly [pid 7346] ×2 + 10.57sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7343] ×2 + 10.57sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7342] ×2 + 10.58sINFOwaypoint_manager_node-11process has finished cleanly [pid 7341] ×2 + 10.58sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.58sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.59sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.59sINFOparameter_manager_node-10process has finished cleanly [pid 7340] ×2 + 10.60sINFOui_teleop_bridge-18process has finished cleanly [pid 7348] ×2 + 10.62sINFOexecute_objective_bridge-17process has finished cleanly [pid 7347] ×2 + 10.66sINFOobjective_server_node[0;m[2026-09-04 01:20:37.203] [moveit_pro_license] [info] ×2 + 10.66sINFOobjective_server_node************************************************* ×4 + 10.66sINFOobjective_server_node* MoveIt Pro License ×2 + 10.66sINFOobjective_server_node* Application has successfully terminated ×2 + 10.68sINFOmove_group-9process has finished cleanly [pid 7339] ×2 + 10.74sINFOcomponent_container_mt-15process has finished cleanly [pid 7345] ×2 + 10.79sINFOobjective_server_node_main-14process has finished cleanly [pid 7344] ×2 + 10.79sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.15sINFOros2_control_node-1process has finished cleanly [pid 7298] ×2 + 11.69sINFOweb_bridge-19process has finished cleanly [pid 7349] ×2 + 11.69sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970711 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970711 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765197 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765197 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885205 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885205 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788484648.55631042 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.01sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.01sINFOobjective_server_nodecaller: ×6 + 3.01sINFOobjective_server_nodetype: 0 ×6 + 3.01sINFOobjective_server_nodename: "" ×6 + 3.01sINFOobjective_server_nodeinstance_id: "" ×6 + 3.01sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788484649.21687102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788484649.27701926 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123220 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123220 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 7.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.42sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.48sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.56sINFOobjective_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 + 7.57sINFOobjective_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 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.89sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 8.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 691 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.18sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.18sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.18sWARNros2_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 + 0.18sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.18sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.18sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.18sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.18sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.18sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.18sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.18sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.18sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.18sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.18sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.18sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.18sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.18sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.18sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.18sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.18sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.20sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.20sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.21sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.21sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.22sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.22sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.22sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.22sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.22sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175441 ms (missed cycles : 4). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175441 ms (missed cycles : 4).[0m ×2 + 0.23sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.23sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.30sINFOcomponent_container_mt[2026-09-04 01:16:02.173] [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 + 0.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.54sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.54sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOros2-3process has finished cleanly [pid 7300] ×2 + 0.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.74sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.74sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.74sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.83sWARNobjective_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 + 0.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.92sINFOros2-4process has finished cleanly [pid 7312] ×2 + 0.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.92sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.92sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.92sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.92sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.93sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.93sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.93sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.93sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.94sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.94sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.24sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.24sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 1.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697158 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697158 ms (missed cycles : 2).[0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 7313] ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.29sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.29sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.29sINFOforce_torque_sensor_broadcasterconfigure successful + 1.29sINFOros2_control_nodeconfigure successful[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.60sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.60sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.64sINFOros2-2process has finished cleanly [pid 7299] ×2 + 1.72sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 1.72sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 1.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.76sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.81sINFOros2_control_node[2026-09-04 01:16:03.680] [info] Controller state will be published at 10 Hz. ×2 + 1.81sINFOros2_control_node[2026-09-04 01:16:03.681] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.09sINFOros2-7process has finished cleanly [pid 7315] ×2 + 2.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 2.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.16sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.16sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.19sINFOros2_control_node[2026-09-04 01:16:04.059] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.19sINFOros2_control_node[2026-09-04 01:16:04.059] [info] Controller state will be published at 50 Hz. ×2 + 2.19sINFOros2_control_node[2026-09-04 01:16:04.065] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.50sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.50sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.52sINFOros2-6process has finished cleanly [pid 7314] ×2 + 2.57sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 2.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 2.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.60sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.63sINFOros2_control_node[2026-09-04 01:16:04.499] [info] Controller state will be published at 20 Hz. ×2 + 2.63sINFOros2_control_node[2026-09-04 01:16:04.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.79sINFOobjective_server_nodecaller: ×14 + 2.79sINFOobjective_server_nodetype: 0 ×14 + 2.79sINFOobjective_server_nodename: "" ×14 + 2.79sINFOobjective_server_nodeinstance_id: "" ×14 + 2.79sINFOobjective_server_node ×14 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484564.71260548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484564.72286534 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 3.00sINFOros2-8process has finished cleanly [pid 7316] ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 4.50sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 5.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 7.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 7.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.16sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 8.16sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523825 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523825 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459515 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459515 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6).[0m ×2 + 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: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788484826.56174088 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.43sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.43sINFOobjective_server_nodecaller: ×8 + 3.43sINFOobjective_server_nodetype: 0 ×8 + 3.43sINFOobjective_server_nodename: "" ×8 + 3.43sINFOobjective_server_nodeinstance_id: "" ×8 + 3.43sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484827.16722035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484828.13735008 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788484828.73180938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.06sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788484828.73386836 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788484829.34127831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788484829.34212255 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484830.06198239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437863 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437863 ms (missed cycles : 3).[0m ×2 + 7.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788484831.30210471 seconds ×3 + 7.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ 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 9.669438 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6).[0m ×2 + 0.85sINFOobjective_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 + 0.86sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Got request to cancel active goal. ×2 + 0.86sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Canceling active goal... ×2 + 0.87sERRORobjective_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: 1788484826.56174088 seconds ×3 + 0.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.41sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.41sINFOobjective_server_nodecaller: ×8 + 1.41sINFOobjective_server_nodetype: 0 ×8 + 1.41sINFOobjective_server_nodename: "" ×8 + 1.41sINFOobjective_server_nodeinstance_id: "" ×8 + 1.41sINFOobjective_server_node ×8 + 1.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484827.16722035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484828.13735008 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788484828.73180938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.04sINFOobjective_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 + 3.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788484828.73386836 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788484829.34127831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788484829.34212255 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484830.06198239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437863 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437863 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788484831.30210471 seconds ×3 + 5.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643212 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643212 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970711 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970711 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765197 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765197 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885205 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885205 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788484648.55631042 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.01sINFOobjective_server_nodecaller: ×4 + 3.01sINFOobjective_server_nodetype: 0 ×4 + 3.01sINFOobjective_server_nodename: "" ×4 + 3.01sINFOobjective_server_nodeinstance_id: "" ×4 + 3.01sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788484649.21687102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788484649.27701926 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123220 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123220 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.15sINFOobjective_server_nodecaller: ×6 + 3.15sINFOobjective_server_nodetype: 0 ×6 + 3.15sINFOobjective_server_nodename: "" ×6 + 3.15sINFOobjective_server_nodeinstance_id: "" ×6 + 3.15sINFOobjective_server_node ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:16:39.789] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:16:39.789] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788484602.84818935 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788484603.46791196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788484603.53803444 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.39sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788484604.18001628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.52sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1788484591.15594220 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-2process has finished cleanly [pid 7299] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.21sINFOros2_control_node[2026-09-04 01:16:03.680] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-09-04 01:16:03.681] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-04 01:16:04.059] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.58sINFOros2_control_node[2026-09-04 01:16:04.059] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 01:16:04.065] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.92sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 1.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-09-04 01:16:04.499] [info] Controller state will be published at 20 Hz. ×2 + 1.03sINFOros2_control_node[2026-09-04 01:16:04.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484564.71260548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484564.72286534 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 2.00 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 26 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.15sINFOobjective_server_nodecaller: ×6 + 3.15sINFOobjective_server_nodetype: 0 ×6 + 3.15sINFOobjective_server_nodename: "" ×6 + 3.15sINFOobjective_server_nodeinstance_id: "" ×6 + 3.15sINFOobjective_server_node ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6).[0m ×2 + 0.85sINFOobjective_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 + 0.86sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Got request to cancel active goal. ×2 + 0.86sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Canceling active goal... ×2 + 0.87sERRORobjective_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: 1788484826.56174088 seconds ×3 + 0.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.41sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.41sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.41sINFOobjective_server_nodecaller: ×8 + 1.41sINFOobjective_server_nodetype: 0 ×8 + 1.41sINFOobjective_server_nodename: "" ×8 + 1.41sINFOobjective_server_nodeinstance_id: "" ×8 + 1.41sINFOobjective_server_node ×8 + 1.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484827.16722035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484828.13735008 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788484828.73180938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.04sINFOobjective_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 + 3.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788484828.73386836 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788484829.34127831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788484829.34212255 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484830.06198239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437863 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437863 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788484831.30210471 seconds ×3 + 5.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643212 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643212 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484771.07779503 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788484771.79062581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788484602.84818935 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788484603.46791196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788484603.53803444 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788484604.18001628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1788484591.15594220 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1788484591.15594220 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_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 7.682052 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1788484591.15594220 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.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 7.682052 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1788484591.15594220 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.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 7.682052 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1788484591.15594220 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.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 7.682052 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682052 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352119 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596468 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sERRORobjective_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: 1788484591.15594220 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788484591.84956431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788484591.93969059 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681546 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788484592.58066297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 01:16:32.774] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599841 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442625 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182248 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788484602.84818935 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788484603.46791196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788484603.53803444 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788484604.18001628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788484602.84818935 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788484603.46791196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788484603.53803444 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788484604.18001628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788484602.84818935 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788484603.46791196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788484603.53803444 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788484604.18001628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119680 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 01:16:41.564] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973986 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027999 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788484602.84818935 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788484603.46791196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788484603.53803444 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805995 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788484604.18001628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 01:16:44.314] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567405 ms (missed cycles : 5).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461800 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250061 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941820 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:16:52.371] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531410 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466546 ms (missed cycles : 5).[0m ×2 + 3.02sINFOobjective_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 + 3.02sERRORobjective_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: 1788484614.62015152 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392212 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788484615.25312901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 01:16:55.467] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558573 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972717 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932636 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932636 ms (missed cycles : 5).[0m ×2 + 0.98sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 0.98sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.98sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250529 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250529 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.11sINFOobjective_server_nodeFound path in 1 iterations (0.00320969 s). ×2 + 1.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOros2_control_node[2026-09-04 01:17:14.977] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-09-04 01:17:14.977] [info] Accepted new action goal ×2 + 1.74sINFOros2_control_node[2026-09-04 01:17:15.379] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-04 01:17:15.379] [info] Accepted new action goal ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690381 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690381 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOros2_control_node[2026-09-04 01:17:16.651] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-09-04 01:17:16.651] [info] Canceling active goal... ×2 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484636.66009092 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338790 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338790 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×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 + 3.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788484637.30615664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.86sINFOros2_control_node[2026-09-04 01:17:17.490] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 01:17:17.490] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160731 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160731 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948024 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948024 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923945 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923945 ms (missed cycles : 4).[0m ×2 + 6.36sINFOros2_control_node[2026-09-04 01:17:19.996] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:17:19.996] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970711 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970711 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765197 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765197 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885205 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885205 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788484648.55631042 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.01sINFOobjective_server_nodecaller: ×4 + 3.01sINFOobjective_server_nodetype: 0 ×4 + 3.01sINFOobjective_server_nodename: "" ×4 + 3.01sINFOobjective_server_nodeinstance_id: "" ×4 + 3.01sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788484649.21687102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788484649.27701926 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123220 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123220 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 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 + 3.90sINFOobjective_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 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 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 + 3.90sINFOobjective_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 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 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 + 3.90sINFOobjective_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 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 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 + 3.90sINFOobjective_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 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 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 + 3.90sINFOobjective_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 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 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 + 3.90sINFOobjective_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 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788484649.87796164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:17:29.997] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300559 ms (missed cycles : 4).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377088 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788484651.99810529 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.036290 ms (missed cycles : 8).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788484653.63860798 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 + 3.90sINFOobjective_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 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275349 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:17:34.046] [info] Accepted new action goal ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258600 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395636 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407586 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407586 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113950 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113950 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841548 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841548 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788484706.88514423 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788484707.49200439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.18sINFOros2_control_node[2026-09-04 01:18:27.665] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-04 01:18:27.665] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519612 ms (missed cycles : 6). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519612 ms (missed cycles : 6).[0m ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327364 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327364 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.46sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 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 · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484771.07779503 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788484771.79062581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484771.07779503 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788484771.79062581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484771.07779503 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788484771.79062581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497690 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879987 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163689 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788484771.07779503 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661727 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788484771.79062581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:19:32.005] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322111 ms (missed cycles : 5).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.140466 ms (missed cycles : 5).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.592146 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:19:38.720] [info] Accepted new action goal ×2 + 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888078 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234516 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:19:40.484] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255882 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788484781.77079988 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690446 ms (missed cycles : 6).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788484782.70590401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:19:42.890] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030254 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222345 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305122 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521540 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521540 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996751 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996751 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698927 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698927 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.51sERRORobjective_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: 1788484793.05636239 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788484793.65749550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811436 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:19:53.986] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:19:53.986] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505218 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505218 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052727 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052727 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044676 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444634 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444634 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515349 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515349 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.644039 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.644039 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788484803.58989358 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788484804.23975015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 01:20:04.363] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 01:20:04.363] [info] Accepted new action goal ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805139 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805139 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712673 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712673 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578683 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578683 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.15sINFOobjective_server_nodecaller: ×6 + 3.15sINFOobjective_server_nodetype: 0 ×6 + 3.15sINFOobjective_server_nodename: "" ×6 + 3.15sINFOobjective_server_nodeinstance_id: "" ×6 + 3.15sINFOobjective_server_node ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.15sINFOobjective_server_nodecaller: ×6 + 3.15sINFOobjective_server_nodetype: 0 ×6 + 3.15sINFOobjective_server_nodename: "" ×6 + 3.15sINFOobjective_server_nodeinstance_id: "" ×6 + 3.15sINFOobjective_server_node ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.15sINFOobjective_server_nodecaller: ×6 + 3.15sINFOobjective_server_nodetype: 0 ×6 + 3.15sINFOobjective_server_nodename: "" ×6 + 3.15sINFOobjective_server_nodeinstance_id: "" ×6 + 3.15sINFOobjective_server_node ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328178 ms (missed cycles : 2).[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.15sINFOobjective_server_nodecaller: ×6 + 3.15sINFOobjective_server_nodetype: 0 ×6 + 3.15sINFOobjective_server_nodename: "" ×6 + 3.15sINFOobjective_server_nodeinstance_id: "" ×6 + 3.15sINFOobjective_server_node ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.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 5.173530 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.15sINFOobjective_server_nodecaller: ×6 + 2.15sINFOobjective_server_nodetype: 0 ×6 + 2.15sINFOobjective_server_nodename: "" ×6 + 2.15sINFOobjective_server_nodeinstance_id: "" ×6 + 2.15sINFOobjective_server_node ×6 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_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 5.173530 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.15sINFOobjective_server_nodecaller: ×6 + 2.15sINFOobjective_server_nodetype: 0 ×6 + 2.15sINFOobjective_server_nodename: "" ×6 + 2.15sINFOobjective_server_nodeinstance_id: "" ×6 + 2.15sINFOobjective_server_node ×6 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.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 5.173530 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173530 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448989 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788484814.55000901 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.15sINFOobjective_server_nodecaller: ×6 + 2.15sINFOobjective_server_nodetype: 0 ×6 + 2.15sINFOobjective_server_nodename: "" ×6 + 2.15sINFOobjective_server_nodeinstance_id: "" ×6 + 2.15sINFOobjective_server_node ×6 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978109 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788484815.19195867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788484815.26210952 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788484815.86264133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788484815.88495421 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141537 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788484816.48715520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 01:20:16.600] [info] Accepted new action goal ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950650 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556436 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422160 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523825 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523825 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459515 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459515 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6).[0m ×2 + 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: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788484826.56174088 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.43sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.43sINFOobjective_server_nodecaller: ×8 + 3.43sINFOobjective_server_nodetype: 0 ×8 + 3.43sINFOobjective_server_nodename: "" ×8 + 3.43sINFOobjective_server_nodeinstance_id: "" ×8 + 3.43sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484827.16722035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484828.13735008 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788484828.73180938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.06sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788484828.73386836 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788484829.34127831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788484829.34212255 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484830.06198239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523825 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523825 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459515 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459515 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669438 ms (missed cycles : 6).[0m ×2 + 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: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:20:26.557] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788484826.56174088 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.43sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.43sINFOobjective_server_nodecaller: ×8 + 3.43sINFOobjective_server_nodetype: 0 ×8 + 3.43sINFOobjective_server_nodename: "" ×8 + 3.43sINFOobjective_server_nodeinstance_id: "" ×8 + 3.43sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788484827.16722035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596865 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788484828.13735008 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788484828.73180938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.06sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788484828.73386836 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431435 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788484829.34127831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788484829.34212255 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788484830.06198239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064778 ms (missed cycles : 4).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.3s | 42 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-01-15-57-460114-4bd7a06e9261-7250 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.87sINFOros2_control_node-1process started with pid [7298] ×2 + 0.87sINFOmove_group-9process started with pid [7339] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7340] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7341] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7342] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7343] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7344] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7345] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7346] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7347] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7348] ×2 + 0.87sINFOweb_bridge-19process started with pid [7349] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7425] ×2 + 0.87sINFOvideo_server-21process started with pid [7426] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7427] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7428] ×2 + 0.88sINFOros2-2process started with pid [7299] ×2 + 0.88sINFOros2-3process started with pid [7300] ×2 + 0.88sINFOros2-4process started with pid [7312] ×2 + 0.88sINFOros2-5process started with pid [7313] ×2 + 0.88sINFOros2-6process started with pid [7314] ×2 + 0.88sINFOros2-7process started with pid [7315] ×2 + 0.88sINFOros2-8process started with pid [7316] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729486 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729486 ms (missed cycles : 3).[0m ×2 + 0.97sINFOcontroller_managerReceived robot description from topic. + 0.97sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.97sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.98sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.00sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.19sINFOvideo_server2026/09/04 01:15:59 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.19sINFOvideo_server2026/09/04 01:15:59 INF configuration loaded from /tmp/moveit-webrtc-20_909v3/mediamtx.yml ×2 + 1.19sINFOvideo_server2026/09/04 01:15:59 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.19sINFOvideo_server2026/09/04 01:15:59 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.46sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.91sINFOmove_group[2026-09-04 01:15:59.765] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.11sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.11sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOros2_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 + 2.12sINFOros2_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 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343995 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343995 ms (missed cycles : 2).[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.24sINFOwaypoint_manager_node[2026-09-04 01:16:00.097] [moveit_pro_license] [info] ×2 + 2.24sINFOwaypoint_manager_node************************************************* ×4 + 2.24sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.24sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.35sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.41sINFOmove_group ×4 + 2.41sINFOmove_group[92mYou can start planning now![0m ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.50sINFOobjective_server_node[2026-09-04 01:16:01.358] [moveit_pro_license] [info] ×2 + 3.50sINFOobjective_server_node************************************************* ×4 + 3.50sINFOobjective_server_node* MoveIt Pro License ×2 + 3.50sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.69sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.02sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.02sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.19sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.20sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.20sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.20sWARNros2_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 + 4.20sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.20sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.20sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.20sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.20sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.20sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.20sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.20sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.20sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.20sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.20sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.20sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.20sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.20sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.20sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.20sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.20sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.20sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.20sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.20sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.20sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.20sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.20sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.20sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.20sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.20sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.20sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.22sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.22sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.22sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.22sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.22sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 4.22sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 4.23sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.25sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175441 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175441 ms (missed cycles : 4).[0m ×2 + 4.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.32sINFOcomponent_container_mt[2026-09-04 01:16:02.173] [moveit_pro_license] [info] ×2 + 4.32sINFOcomponent_container_mt************************************************* ×4 + 4.32sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.32sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.51sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.51sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.51sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.51sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.52sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 4.52sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 4.55sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.55sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.55sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.55sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.55sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.56sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.57sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.57sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.58sINFOros2-3process has finished cleanly [pid 7300] ×2 + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.76sINFOros2_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 + 4.76sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.76sWARNros2_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 + 4.85sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.87sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 4.87sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 4.93sINFOros2-4process has finished cleanly [pid 7312] ×2 + 4.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.94sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.96sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.25sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.25sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.25sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.25sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.26sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 5.26sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697158 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697158 ms (missed cycles : 2).[0m ×2 + 5.27sINFOros2-5process has finished cleanly [pid 7313] ×2 + 5.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.30sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.31sINFOforce_torque_sensor_broadcasterconfigure successful + 5.31sINFOros2_control_nodeconfigure successful[0m ×2 + 5.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.62sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.62sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.62sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.62sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.65sINFOros2-2process has finished cleanly [pid 7299] ×2 + 5.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 5.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 5.78sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.78sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.78sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.78sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.79sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.82sINFOros2_control_node[2026-09-04 01:16:03.680] [info] Controller state will be published at 10 Hz. ×2 + 5.83sINFOros2_control_node[2026-09-04 01:16:03.681] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.03sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.10sINFOros2-7process has finished cleanly [pid 7315] ×2 + 6.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 6.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.18sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.18sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.20sINFOros2_control_node[2026-09-04 01:16:04.059] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.20sINFOros2_control_node[2026-09-04 01:16:04.059] [info] Controller state will be published at 50 Hz. ×2 + 6.21sINFOros2_control_node[2026-09-04 01:16:04.065] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.52sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.52sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.52sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.52sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.54sINFOros2-6process has finished cleanly [pid 7314] ×2 + 6.58sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 6.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 6.62sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.62sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.62sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.62sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.64sINFOros2_control_node[2026-09-04 01:16:04.499] [info] Controller state will be published at 20 Hz. ×2 + 6.64sINFOros2_control_node[2026-09-04 01:16:04.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.81sINFOobjective_server_nodecaller: ×10 + 6.81sINFOobjective_server_nodetype: 0 ×10 + 6.81sINFOobjective_server_nodename: "" ×10 + 6.81sINFOobjective_server_nodeinstance_id: "" ×10 + 6.81sINFOobjective_server_node ×10 + 6.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484564.71260548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484564.72286534 seconds ×3 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 7.02sINFOros2-8process has finished cleanly [pid 7316] ×2 + 7.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 8.51sWARNros2_control_nodeCamera render tick took 2.00 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 + 8.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 9.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 9.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 9.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 10.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 349 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 7316] ×2 + 0.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.41sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.41sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.41sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.41sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.41sINFOobjective_server_nodecaller: ×12 + 0.41sINFOobjective_server_nodetype: 0 ×12 + 0.41sINFOobjective_server_nodename: "" ×12 + 0.41sINFOobjective_server_nodeinstance_id: "" ×12 + 0.41sINFOobjective_server_node ×12 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 1.52sWARNros2_control_nodeCamera render tick took 2.00 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 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.18sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 7.23sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 7.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.69sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 7.69sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 408 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.20sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.25sINFOros2_control_node[2026-09-04 01:16:04.499] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-09-04 01:16:04.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.41sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.42sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.42sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.42sINFOobjective_server_nodecaller: ×14 + 0.42sINFOobjective_server_nodetype: 0 ×14 + 0.42sINFOobjective_server_nodename: "" ×14 + 0.42sINFOobjective_server_nodeinstance_id: "" ×14 + 0.42sINFOobjective_server_node ×14 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484564.71260548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484564.72286534 seconds ×3 + 0.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 0.63sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 2.12sWARNros2_control_nodeCamera render tick took 2.00 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 + 2.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 3.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 163 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/2026-09-04-01-15-57-460114-4bd7a06e9261-7250 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.87sINFOros2_control_node-1process started with pid [7298] ×2 + 0.87sINFOmove_group-9process started with pid [7339] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7340] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7341] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7342] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7343] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7344] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7345] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7346] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7347] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7348] ×2 + 0.87sINFOweb_bridge-19process started with pid [7349] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7425] ×2 + 0.87sINFOvideo_server-21process started with pid [7426] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7427] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7428] ×2 + 0.88sINFOros2-2process started with pid [7299] ×2 + 0.88sINFOros2-3process started with pid [7300] ×2 + 0.88sINFOros2-4process started with pid [7312] ×2 + 0.88sINFOros2-5process started with pid [7313] ×2 + 0.88sINFOros2-6process started with pid [7314] ×2 + 0.88sINFOros2-7process started with pid [7315] ×2 + 0.88sINFOros2-8process started with pid [7316] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729486 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729486 ms (missed cycles : 3).[0m ×2 + 0.97sINFOcontroller_managerReceived robot description from topic. + 0.97sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.97sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.98sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.00sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.19sINFOvideo_server2026/09/04 01:15:59 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.19sINFOvideo_server2026/09/04 01:15:59 INF configuration loaded from /tmp/moveit-webrtc-20_909v3/mediamtx.yml ×2 + 1.19sINFOvideo_server2026/09/04 01:15:59 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.19sINFOvideo_server2026/09/04 01:15:59 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.46sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.91sINFOmove_group[2026-09-04 01:15:59.765] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.11sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.11sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOros2_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 + 2.12sINFOros2_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 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343995 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343995 ms (missed cycles : 2).[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.24sINFOwaypoint_manager_node[2026-09-04 01:16:00.097] [moveit_pro_license] [info] ×2 + 2.24sINFOwaypoint_manager_node************************************************* ×4 + 2.24sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.24sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.35sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.41sINFOmove_group ×4 + 2.41sINFOmove_group[92mYou can start planning now![0m ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.50sINFOobjective_server_node[2026-09-04 01:16:01.358] [moveit_pro_license] [info] ×2 + 3.50sINFOobjective_server_node************************************************* ×4 + 3.50sINFOobjective_server_node* MoveIt Pro License ×2 + 3.50sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-2process has finished cleanly [pid 7299] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.21sINFOros2_control_node[2026-09-04 01:16:03.680] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-09-04 01:16:03.681] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-04 01:16:04.059] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.58sINFOros2_control_node[2026-09-04 01:16:04.059] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 01:16:04.065] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.92sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 1.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-09-04 01:16:04.499] [info] Controller state will be published at 20 Hz. ×2 + 1.03sINFOros2_control_node[2026-09-04 01:16:04.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484564.71260548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484564.72286534 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 2.00 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-2process has finished cleanly [pid 7299] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.21sINFOros2_control_node[2026-09-04 01:16:03.680] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-09-04 01:16:03.681] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-04 01:16:04.059] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.58sINFOros2_control_node[2026-09-04 01:16:04.059] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 01:16:04.065] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.92sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 1.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-09-04 01:16:04.499] [info] Controller state will be published at 20 Hz. ×2 + 1.03sINFOros2_control_node[2026-09-04 01:16:04.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484564.71260548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484564.72286534 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 2.00 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-2process has finished cleanly [pid 7299] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.21sINFOros2_control_node[2026-09-04 01:16:03.680] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-09-04 01:16:03.681] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-09-04 01:16:04.034] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-04 01:16:04.059] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.58sINFOros2_control_node[2026-09-04 01:16:04.059] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 01:16:04.065] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.92sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 1.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-09-04 01:16:04.499] [info] Controller state will be published at 20 Hz. ×2 + 1.03sINFOros2_control_node[2026-09-04 01:16:04.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484564.71260548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484564.72286534 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 2.00 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 408 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd + 0.20sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2n9yo79s --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pk9nkzak --params-file /tmp/launch_params_n2vlkcbd [0m ×2 + 0.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.25sINFOros2_control_node[2026-09-04 01:16:04.499] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-09-04 01:16:04.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.41sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.42sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.42sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.42sINFOobjective_server_nodecaller: ×14 + 0.42sINFOobjective_server_nodetype: 0 ×14 + 0.42sINFOobjective_server_nodename: "" ×14 + 0.42sINFOobjective_server_nodeinstance_id: "" ×14 + 0.42sINFOobjective_server_node ×14 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788484564.71260548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788484564.72286534 seconds ×3 + 0.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 0.63sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 2.12sWARNros2_control_nodeCamera render tick took 2.00 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 + 2.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 3.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883188 ms (missed cycles : 4).[0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 7316] ×2 + 0.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.41sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.41sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.41sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.41sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.41sINFOobjective_server_nodecaller: ×12 + 0.41sINFOobjective_server_nodetype: 0 ×12 + 0.41sINFOobjective_server_nodename: "" ×12 + 0.41sINFOobjective_server_nodeinstance_id: "" ×12 + 0.41sINFOobjective_server_node ×12 + 0.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788484565.30758715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 1.52sWARNros2_control_nodeCamera render tick took 2.00 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 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_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 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.18sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [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 1.722163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722163 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 2.00 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 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788484566.41780877 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788484567.03039050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788484567.09058881 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339921 ms (missed cycles : 4).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788484567.79604387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788484567.81616616 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880282 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788484568.40899372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788484568.55957890 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788484569.23793578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788484569.27806854 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788484569.88766861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.4521e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:16:10.034] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543097 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514841 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775058 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 01:16:12.542] [info] Accepted new action goal ×2 | ||||