122
Total objective tests
32
Objectives passed
0
Objectives failed
90
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 163 warnings · 19290 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.902732 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.902732 ms (missed cycles : 8).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196327 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196327 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631801 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631801 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788486579.51342654 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.04sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.04sINFOobjective_server_nodecaller: ×4 + 3.04sINFOobjective_server_nodetype: 0 ×4 + 3.04sINFOobjective_server_nodename: "" ×4 + 3.04sINFOobjective_server_nodeinstance_id: "" ×4 + 3.04sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486580.12109327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123091 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123091 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.27sINFOros2_control_node[2026-09-04 01:49:40.294] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-04 01:49:40.294] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109574 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109574 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_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 + 4.54sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387350 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387350 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872486 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872486 ms (missed cycles : 4).[0m ×2 + 6.75sINFOjoint_trajectory_controllerReceived new action goal ×3171 + 6.75sINFOjoint_trajectory_controllerAccepted new action goal ×3171 + 6.75sINFOros2_control_nodeReceived new action goal[0m ×6342 + 6.75sINFOros2_control_nodeAccepted new action goal[0m ×6342 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055862 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055862 ms (missed cycles : 5).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758491 ms (missed cycles : 5). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758491 ms (missed cycles : 5).[0m ×2 + 9.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575922 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575922 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621083 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621083 ms (missed cycles : 2).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261990 ms (missed cycles : 4). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261990 ms (missed cycles : 4).[0m ×2 + 11.59sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.59sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.59sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.60sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063387 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063387 ms (missed cycles : 2).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844123 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844123 ms (missed cycles : 2).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504227 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504227 ms (missed cycles : 3).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737584 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737584 ms (missed cycles : 2).[0m ×2 + 16.20sWARNros2_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 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521817 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521817 ms (missed cycles : 3).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439955 ms (missed cycles : 6). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439955 ms (missed cycles : 6).[0m ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.681550 ms (missed cycles : 6). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.681550 ms (missed cycles : 6).[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316461 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316461 ms (missed cycles : 2).[0m ×2 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759484 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759484 ms (missed cycles : 2).[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741950 ms (missed cycles : 2). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741950 ms (missed cycles : 2).[0m ×2 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956455 ms (missed cycles : 2). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956455 ms (missed cycles : 2).[0m ×2 + 23.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928595 ms (missed cycles : 2). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928595 ms (missed cycles : 2).[0m ×2 + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752412 ms (missed cycles : 2). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752412 ms (missed cycles : 2).[0m ×2 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666869 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666869 ms (missed cycles : 2).[0m ×2 + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131273 ms (missed cycles : 2). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131273 ms (missed cycles : 2).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196009 ms (missed cycles : 4). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196009 ms (missed cycles : 4).[0m ×2 + 29.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880726 ms (missed cycles : 2). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880726 ms (missed cycles : 2).[0m ×2 + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036009 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036009 ms (missed cycles : 2).[0m ×2 + 30.20sWARNros2_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 + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418657 ms (missed cycles : 3). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418657 ms (missed cycles : 3).[0m ×2 + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669530 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669530 ms (missed cycles : 2).[0m ×2 + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766639 ms (missed cycles : 2). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766639 ms (missed cycles : 2).[0m ×2 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209299 ms (missed cycles : 2). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209299 ms (missed cycles : 2).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993687 ms (missed cycles : 2). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993687 ms (missed cycles : 2).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040798 ms (missed cycles : 4). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040798 ms (missed cycles : 4).[0m ×2 + 36.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×4 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769003 ms (missed cycles : 2). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769003 ms (missed cycles : 2).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391694 ms (missed cycles : 2). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391694 ms (missed cycles : 2).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029629 ms (missed cycles : 2). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029629 ms (missed cycles : 2).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340467 ms (missed cycles : 2). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340467 ms (missed cycles : 2).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901709 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901709 ms (missed cycles : 2).[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742552 ms (missed cycles : 2). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742552 ms (missed cycles : 2).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763891 ms (missed cycles : 2). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763891 ms (missed cycles : 2).[0m ×2 + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840367 ms (missed cycles : 2). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840367 ms (missed cycles : 2).[0m ×2 + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203969 ms (missed cycles : 7). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203969 ms (missed cycles : 7).[0m ×2 + 46.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707661 ms (missed cycles : 2). + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707661 ms (missed cycles : 2).[0m ×2 + 46.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486623.93102956 seconds ×3 + 46.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.43sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.45sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486624.56356764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.70sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 47.70sINFOros2_control_node[2026-09-04 01:50:24.727] [info] Received new action goal ×2 + 47.70sINFOros2_control_node[2026-09-04 01:50:24.727] [info] Accepted new action goal ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993438 ms (missed cycles : 3). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993438 ms (missed cycles : 3).[0m ×2 + 48.87sWARNros2_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 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196311 ms (missed cycles : 2). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196311 ms (missed cycles : 2).[0m ×2 + 50.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697494 ms (missed cycles : 2). + 50.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697494 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 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: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 7.12sINFOros2_control_node[2026-09-04 01:48:48.795] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-04 01:48:48.795] [info] Accepted new action goal ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819274 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819274 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738099 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738099 ms (missed cycles : 2).[0m ×2 + 9.44sWARNros2_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 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345932 ms (missed cycles : 5). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345932 ms (missed cycles : 5).[0m ×2 + 10.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.40sINFOros2_control_node[2026-09-04 01:48:52.075] [info] Received new action goal ×2 + 10.40sINFOros2_control_node[2026-09-04 01:48:52.075] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872048 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872048 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163546 ms (missed cycles : 4). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163546 ms (missed cycles : 4).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691851 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691851 ms (missed cycles : 2).[0m ×2 + 13.38sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.44sINFOros2_control_node[2026-09-04 01:48:55.109] [info] Received new action goal ×2 + 13.44sINFOros2_control_node[2026-09-04 01:48:55.109] [info] Accepted new action goal ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103669 ms (missed cycles : 4). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103669 ms (missed cycles : 4).[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407320 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407320 ms (missed cycles : 2).[0m ×2 + 15.33sWARNros2_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 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758641 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758641 ms (missed cycles : 2).[0m ×2 + 16.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.40sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.40sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.40sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.40sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935863 ms (missed cycles : 5). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935863 ms (missed cycles : 5).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219530 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219530 ms (missed cycles : 2).[0m ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134429 ms (missed cycles : 5). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134429 ms (missed cycles : 5).[0m ×2 + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466651 ms (missed cycles : 3). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466651 ms (missed cycles : 3).[0m ×2 + 21.46sWARNros2_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 + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025056 ms (missed cycles : 5). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025056 ms (missed cycles : 5).[0m ×2 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340515 ms (missed cycles : 3). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340515 ms (missed cycles : 3).[0m ×2 + 23.19sINFOobjective_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 + 23.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.19sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.19sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.20sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.20sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766400 ms (missed cycles : 2). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766400 ms (missed cycles : 2).[0m ×2 + 24.09sINFOros2_control_node[2026-09-04 01:49:05.756] [info] Received new action goal ×2 + 24.09sINFOros2_control_node[2026-09-04 01:49:05.756] [info] Accepted new action goal ×2 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256132 ms (missed cycles : 4). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256132 ms (missed cycles : 4).[0m ×2 + 25.25sINFOobjective_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 + 25.26sINFOobjective_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 + 25.54sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 25.54sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.59sINFOros2_control_node[2026-09-04 01:49:07.258] [info] Received new action goal ×2 + 25.59sINFOros2_control_node[2026-09-04 01:49:07.258] [info] Accepted new action goal ×2 + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204824 ms (missed cycles : 4). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204824 ms (missed cycles : 4).[0m ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628738 ms (missed cycles : 5). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628738 ms (missed cycles : 5).[0m ×2 + 27.54sWARNros2_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 + 27.73sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 27.73sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.74sINFOros2_control_node[2026-09-04 01:49:09.415] [info] Received new action goal ×2 + 27.74sINFOros2_control_node[2026-09-04 01:49:09.415] [info] Accepted new action goal ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421273 ms (missed cycles : 4). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421273 ms (missed cycles : 4).[0m ×2 + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869254 ms (missed cycles : 2). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869254 ms (missed cycles : 2).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348509 ms (missed cycles : 3). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348509 ms (missed cycles : 3).[0m ×2 + 30.87sINFOros2_control_node[2026-09-04 01:49:12.545] [info] Received new action goal ×2 + 30.87sINFOros2_control_node[2026-09-04 01:49:12.545] [info] Accepted new action goal ×2 + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529972 ms (missed cycles : 3). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529972 ms (missed cycles : 3).[0m ×2 + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998027 ms (missed cycles : 2). + 32.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998027 ms (missed cycles : 2).[0m ×2 + 33.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 33.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479200 ms (missed cycles : 2). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479200 ms (missed cycles : 2).[0m ×2 + 33.54sINFOros2_control_node[2026-09-04 01:49:15.209] [info] Received new action goal ×2 + 33.54sINFOros2_control_node[2026-09-04 01:49:15.209] [info] Accepted new action goal ×2 + 34.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173610 ms (missed cycles : 2). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173610 ms (missed cycles : 2).[0m ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588609 ms (missed cycles : 2). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588609 ms (missed cycles : 2).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862138 ms (missed cycles : 5). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862138 ms (missed cycles : 5).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533435 ms (missed cycles : 2). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533435 ms (missed cycles : 2).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121690 ms (missed cycles : 2). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121690 ms (missed cycles : 2).[0m ×2 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592105 ms (missed cycles : 3). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592105 ms (missed cycles : 3).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093740 ms (missed cycles : 5). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093740 ms (missed cycles : 5).[0m ×2 + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187260 ms (missed cycles : 2). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187260 ms (missed cycles : 2).[0m ×2 + 42.79sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351448 ms (missed cycles : 3). + 43.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351448 ms (missed cycles : 3).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243687 ms (missed cycles : 4). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243687 ms (missed cycles : 4).[0m ×2 + 44.82sINFOros2_control_node[2026-09-04 01:49:26.494] [info] Received new action goal ×2 + 44.82sINFOros2_control_node[2026-09-04 01:49:26.494] [info] Accepted new action goal ×2 + 45.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042792 ms (missed cycles : 3). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042792 ms (missed cycles : 3).[0m ×2 + 45.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788486567.66069365 seconds ×3 + 46.21sWARNros2_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 + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795668 ms (missed cycles : 5). + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795668 ms (missed cycles : 5).[0m ×2 + 46.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.58sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.80sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788486568.47325826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306048 ms (missed cycles : 4). + 47.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306048 ms (missed cycles : 4).[0m ×2 + 48.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 48.10sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.11sINFOros2_control_node[2026-09-04 01:49:29.778] [info] Received new action goal ×2 + 48.11sINFOros2_control_node[2026-09-04 01:49:29.778] [info] Accepted new action goal ×2 + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218506 ms (missed cycles : 4). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218506 ms (missed cycles : 4).[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 | 89 warnings · 13456 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×4420 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4420 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2209 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2209 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840367 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840367 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203969 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203969 ms (missed cycles : 7).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707661 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707661 ms (missed cycles : 2).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486623.93102956 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.79sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486624.56356764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.05sINFOros2_control_node[2026-09-04 01:50:24.727] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 01:50:24.727] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993438 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993438 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_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 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196311 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196311 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.36sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697494 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697494 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792669 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792669 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116946 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116946 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786555 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786555 ms (missed cycles : 2).[0m ×2 + 10.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936574 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936574 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229333 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229333 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826486 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826486 ms (missed cycles : 2).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809061 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809061 ms (missed cycles : 2).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110641 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110641 ms (missed cycles : 2).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981130 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981130 ms (missed cycles : 2).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684120 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684120 ms (missed cycles : 2).[0m ×2 + 17.51sWARNros2_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 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973121 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973121 ms (missed cycles : 2).[0m ×2 + 19.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.215738 ms (missed cycles : 7). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.215738 ms (missed cycles : 7).[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333629 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333629 ms (missed cycles : 2).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777309 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777309 ms (missed cycles : 2).[0m ×2 + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2).[0m ×2 + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2).[0m ×2 + 23.68sWARNros2_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 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2).[0m ×2 + 25.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486646.05622625 seconds ×3 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3).[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 + 26.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486646.76718664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.32sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Accepted new action goal ×2 + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3).[0m ×2 + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00375681 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOros2_control_node[2026-09-04 01:48:25.541] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-09-04 01:48:25.541] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902837 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902837 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-09-04 01:48:25.943] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:48:25.943] [info] Accepted new action goal ×2 + 1.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081886 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081886 ms (missed cycles : 2).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067245 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067245 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.16sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1788486508.34853005 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130541 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130541 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.88sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.88sINFOobjective_server_nodecaller: ×6 + 3.88sINFOobjective_server_nodetype: 0 ×6 + 3.88sINFOobjective_server_nodename: "" ×6 + 3.88sINFOobjective_server_nodeinstance_id: "" ×6 + 3.88sINFOobjective_server_node ×6 + 3.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788486509.14989328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:48:29.335] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:48:29.335] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291776 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291776 ms (missed cycles : 4).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473107 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473107 ms (missed cycles : 2).[0m ×2 + 6.68sINFOros2_control_node[2026-09-04 01:48:31.838] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-09-04 01:48:31.838] [info] Accepted new action goal ×2 + 7.03sWARNros2_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 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298728 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298728 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758543 ms (missed cycles : 5). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758543 ms (missed cycles : 5).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681888 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681888 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799589 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799589 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363288 ms (missed cycles : 5). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363288 ms (missed cycles : 5).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827857 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827857 ms (missed cycles : 2).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645260 ms (missed cycles : 4). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645260 ms (missed cycles : 4).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580036 ms (missed cycles : 4). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580036 ms (missed cycles : 4).[0m ×2 + 15.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788486520.41041350 seconds ×3 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050152 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050152 ms (missed cycles : 2).[0m ×2 + 15.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.86sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788486521.07134771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788486521.13147354 seconds ×3 + 16.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.51sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.56sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.68sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 16.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.69sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 16.69sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 18.70sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 60 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351448 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351448 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_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 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.16sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.16sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.16sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.16sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243687 ms (missed cycles : 4). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243687 ms (missed cycles : 4).[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.04sINFOros2_control_node[2026-09-04 01:49:26.494] [info] Received new action goal ×2 + 2.04sINFOros2_control_node[2026-09-04 01:49:26.494] [info] Accepted new action goal ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042792 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042792 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788486567.66069365 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795668 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795668 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788486568.47325826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306048 ms (missed cycles : 4). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306048 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.32sINFOros2_control_node[2026-09-04 01:49:29.778] [info] Received new action goal ×2 + 5.32sINFOros2_control_node[2026-09-04 01:49:29.778] [info] Accepted new action goal ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218506 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218506 ms (missed cycles : 4).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290031 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290031 ms (missed cycles : 2).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637562 ms (missed cycles : 4). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637562 ms (missed cycles : 4).[0m ×2 + 8.56sWARNros2_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 + 9.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.02sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.02sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.02sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.02sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429907 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429907 ms (missed cycles : 2).[0m ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214877 ms (missed cycles : 3). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214877 ms (missed cycles : 3).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 11.43sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776065 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776065 ms (missed cycles : 3).[0m ×2 + 11.46sINFOros2_control_node[2026-09-04 01:49:35.911] [info] Received new action goal ×2 + 11.46sINFOros2_control_node[2026-09-04 01:49:35.911] [info] Accepted new action goal ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.902732 ms (missed cycles : 8). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.902732 ms (missed cycles : 8).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196327 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196327 ms (missed cycles : 2).[0m ×2 + 14.50sWARNros2_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 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631801 ms (missed cycles : 4). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631801 ms (missed cycles : 4).[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788486579.51342654 seconds ×3 + 15.60sINFOobjective_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: ""
+ 15.60sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486580.12109327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123091 ms (missed cycles : 4). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123091 ms (missed cycles : 4).[0m ×2 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.84sINFOros2_control_node[2026-09-04 01:49:40.294] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-09-04 01:49:40.294] [info] Accepted new action goal ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109574 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109574 ms (missed cycles : 3).[0m ×2 + 17.10sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.11sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.18sINFOros2_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 2.387350 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387350 ms (missed cycles : 2).[0m ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872486 ms (missed cycles : 4). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872486 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 59 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×4 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988617 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988617 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036179 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036179 ms (missed cycles : 2).[0m ×2 + 7.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861477 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861477 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334414 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334414 ms (missed cycles : 2).[0m ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 9.87sINFOros2_control_node[2026-09-04 01:47:28.281] [info] Received new action goal ×2 + 9.87sINFOros2_control_node[2026-09-04 01:47:28.281] [info] Accepted new action goal ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731883 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731883 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975602 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975602 ms (missed cycles : 3).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468636 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468636 ms (missed cycles : 3).[0m ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.20sINFOros2_control_node[2026-09-04 01:47:31.609] [info] Received new action goal ×2 + 13.20sINFOros2_control_node[2026-09-04 01:47:31.610] [info] Accepted new action goal ×2 + 13.63sWARNros2_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 + 13.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.92sINFOros2_control_node[2026-09-04 01:47:32.325] [info] Got request to cancel active goal. ×2 + 13.92sINFOros2_control_node[2026-09-04 01:47:32.325] [info] Canceling active goal... ×2 + 13.93sERRORobjective_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: 1788486452.34114242 seconds ×3 + 13.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547080 ms (missed cycles : 5). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547080 ms (missed cycles : 5).[0m ×2 + 14.47sINFOobjective_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: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788486452.94552922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 14.76sINFOros2_control_node[2026-09-04 01:47:33.169] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-04 01:47:33.169] [info] Accepted new action goal ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301160 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301160 ms (missed cycles : 2).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679831 ms (missed cycles : 6). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679831 ms (missed cycles : 6).[0m ×2 + 17.03sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 17.03sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.04sINFOros2_control_node[2026-09-04 01:47:35.450] [info] Received new action goal ×2 + 17.04sINFOros2_control_node[2026-09-04 01:47:35.450] [info] Accepted new action goal ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441924 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441924 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416533 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416533 ms (missed cycles : 6).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.59sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.86sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788486494.94041777 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327096 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327096 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330655 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330655 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474615 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474615 ms (missed cycles : 3).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788486497.85492587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 01:48:18.059] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 01:48:18.059] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581529 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581529 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132325 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132325 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916954 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916954 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564276 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564276 ms (missed cycles : 3).[0m ×2 + 7.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.34sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 1 iterations (0.00325363 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 2 iterations (0.00530342 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 1 iterations (0.00348374 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (6.74e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904844 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904844 ms (missed cycles : 2).[0m ×2 + 8.58sINFOros2_control_node[2026-09-04 01:48:22.622] [info] Received new action goal ×2 + 8.58sINFOros2_control_node[2026-09-04 01:48:22.622] [info] Accepted new action goal ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892706 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892706 ms (missed cycles : 2).[0m ×2 + 10.41sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716481 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716481 ms (missed cycles : 2).[0m ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.26sINFOobjective_server_nodeFound path in 1 iterations (0.00375681 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.50sINFOros2_control_node[2026-09-04 01:48:25.541] [info] Received new action goal ×2 + 11.50sINFOros2_control_node[2026-09-04 01:48:25.541] [info] Accepted new action goal ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902837 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902837 ms (missed cycles : 3).[0m ×2 + 11.90sINFOros2_control_node[2026-09-04 01:48:25.943] [info] Received new action goal ×2 + 11.90sINFOros2_control_node[2026-09-04 01:48:25.943] [info] Accepted new action goal ×2 + 12.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081886 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081886 ms (missed cycles : 2).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067245 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067245 ms (missed cycles : 3).[0m ×2 + 14.28sINFOobjective_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 + 14.28sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.28sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.28sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.30sERRORobjective_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: 1788486508.34853005 seconds ×3 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130541 ms (missed cycles : 4). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130541 ms (missed cycles : 4).[0m ×2 + 15.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.00sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788486509.14989328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 15.29sINFOros2_control_node[2026-09-04 01:48:29.335] [info] Received new action goal ×2 + 15.29sINFOros2_control_node[2026-09-04 01:48:29.335] [info] Accepted new action goal ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291776 ms (missed cycles : 4). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291776 ms (missed cycles : 4).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473107 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473107 ms (missed cycles : 2).[0m ×2 + 17.79sINFOros2_control_node[2026-09-04 01:48:31.838] [info] Received new action goal ×2 + 17.79sINFOros2_control_node[2026-09-04 01:48:31.838] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 2256 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2).[0m ×2 + 1.56sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486646.05622625 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_nodecaller: ×4 + 3.89sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.89sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486646.76718664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037998 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037998 ms (missed cycles : 3).[0m ×2 + 7.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 1 iterations (0.00285709 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.22sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.23sINFOros2_control_node[2026-09-04 01:50:51.024] [info] Received new action goal ×2 + 8.24sINFOros2_control_node[2026-09-04 01:50:51.024] [info] Accepted new action goal ×2 + 8.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121208 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121208 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.682496 ms (missed cycles : 6). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.682496 ms (missed cycles : 6).[0m ×2 + 10.54sINFOros2_control_node[2026-09-04 01:50:53.326] [info] Received new action goal ×2 + 10.54sINFOros2_control_node[2026-09-04 01:50:53.326] [info] Accepted new action goal ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894204 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894204 ms (missed cycles : 2).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 12.29sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.30sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 12.30sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 13.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 14.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.00sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 15.27sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 17.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×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 2.180688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2).[0m ×2 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486474.50203085 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.53sINFOobjective_server_nodecaller: ×6 + 2.53sINFOobjective_server_nodetype: 0 ×6 + 2.53sINFOobjective_server_nodename: "" ×6 + 2.53sINFOobjective_server_nodeinstance_id: "" ×6 + 2.53sINFOobjective_server_node ×6 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486475.13066530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486475.22077942 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486475.85861206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Accepted new action goal ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.83sINFOros2_control_node[2026-09-04 01:47:59.343] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-04 01:47:59.343] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886517 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886517 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323336 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323336 ms (missed cycles : 3).[0m ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 9.16sINFOros2_control_node[2026-09-04 01:48:01.680] [info] Received new action goal ×2 + 9.16sINFOros2_control_node[2026-09-04 01:48:01.680] [info] Accepted new action goal ×2 + 9.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294327 ms (missed cycles : 4). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294327 ms (missed cycles : 4).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 11.52sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 11.52sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 11.52sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 13.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.77sERRORobjective_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: 1788486486.28875971 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.34sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 14.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.62sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 14.62sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975602 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975602 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468636 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468636 ms (missed cycles : 3).[0m ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.39sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.40sINFOros2_control_node[2026-09-04 01:47:31.609] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-09-04 01:47:31.610] [info] Accepted new action goal ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.12sINFOros2_control_node[2026-09-04 01:47:32.325] [info] Got request to cancel active goal. ×2 + 2.12sINFOros2_control_node[2026-09-04 01:47:32.325] [info] Canceling active goal... ×2 + 2.14sERRORobjective_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: 1788486452.34114242 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547080 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547080 ms (missed cycles : 5).[0m ×2 + 2.67sINFOobjective_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: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.67sINFOobjective_server_nodecaller: ×6 + 2.67sINFOobjective_server_nodetype: 0 ×6 + 2.67sINFOobjective_server_nodename: "" ×6 + 2.67sINFOobjective_server_nodeinstance_id: "" ×6 + 2.67sINFOobjective_server_node ×6 + 2.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788486452.94552922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 2.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.96sINFOros2_control_node[2026-09-04 01:47:33.169] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-09-04 01:47:33.169] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301160 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301160 ms (missed cycles : 2).[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679831 ms (missed cycles : 6). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679831 ms (missed cycles : 6).[0m ×2 + 5.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.24sINFOros2_control_node[2026-09-04 01:47:35.450] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-09-04 01:47:35.450] [info] Accepted new action goal ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441924 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441924 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645277 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645277 ms (missed cycles : 4).[0m ×2 + 7.88sWARNros2_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 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411371 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411371 ms (missed cycles : 2).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772904 ms (missed cycles : 8). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.772904 ms (missed cycles : 8).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895712 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895712 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 13.15sERRORobjective_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: 1788486463.35780096 seconds ×3 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 13.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 13.93sWARNros2_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 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 14.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.75sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 56 warnings · 257 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706414 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706414 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215651 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215651 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100392 ms (missed cycles : 6). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100392 ms (missed cycles : 6).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788486678.73420715 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.23sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.23sINFOobjective_server_nodecaller: ×8 + 3.23sINFOobjective_server_nodetype: 0 ×8 + 3.23sINFOobjective_server_nodename: "" ×8 + 3.23sINFOobjective_server_nodeinstance_id: "" ×8 + 3.23sINFOobjective_server_node ×8 + 3.29sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788486679.38488817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 01:51:19.509] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 01:51:19.509] [info] Accepted new action goal ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707068 ms (missed cycles : 6). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707068 ms (missed cycles : 6).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002890 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002890 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_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 + 5.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634695 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634695 ms (missed cycles : 4).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848443 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848443 ms (missed cycles : 5).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749000 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749000 ms (missed cycles : 2).[0m ×2 + 8.36sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125522 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125522 ms (missed cycles : 2).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602193 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602193 ms (missed cycles : 3).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3).[0m ×2 + 11.80sWARNros2_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 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 13.62sINFOobjective_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 + 13.63sERRORobjective_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: 1788486689.72523069 seconds ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 14.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 14.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_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 + 14.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 15.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.52sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.73sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 15.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.74sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 15.75sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 17.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 54 warnings · 135 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015919 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015919 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420193 ms (missed cycles : 6). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420193 ms (missed cycles : 6).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153461 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153461 ms (missed cycles : 2).[0m ×2 + 9.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343333 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343333 ms (missed cycles : 3).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303552 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303552 ms (missed cycles : 2).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557826 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557826 ms (missed cycles : 2).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013338 ms (missed cycles : 4). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013338 ms (missed cycles : 4).[0m ×2 + 13.60sINFOobjective_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 + 13.61sERRORobjective_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: 1788486668.23312092 seconds ×3 + 14.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.21sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788486668.83266807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654245 ms (missed cycles : 5). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654245 ms (missed cycles : 5).[0m ×2 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 14.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.52sINFOros2_control_node[2026-09-04 01:51:09.142] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-09-04 01:51:09.142] [info] Accepted new action goal ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132025 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132025 ms (missed cycles : 2).[0m ×2 + 15.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798383 ms (missed cycles : 4). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798383 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236886 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236886 ms (missed cycles : 2).[0m ×2 + 7.78sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.78sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.78sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (1.55e-07 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 1 iterations (0.00306135 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 2 iterations (0.00496363 s). ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382552 ms (missed cycles : 5). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382552 ms (missed cycles : 5).[0m ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 1 iterations (0.00324947 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (6.34e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.02sINFOros2_control_node[2026-09-04 01:48:12.375] [info] Received new action goal ×2 + 9.02sINFOros2_control_node[2026-09-04 01:48:12.375] [info] Accepted new action goal ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570658 ms (missed cycles : 4). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570658 ms (missed cycles : 4).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416533 ms (missed cycles : 6). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416533 ms (missed cycles : 6).[0m ×2 + 11.28sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.55sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.55sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.55sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788486494.94041777 seconds ×3 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327096 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327096 ms (missed cycles : 2).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330655 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330655 ms (missed cycles : 4).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474615 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474615 ms (missed cycles : 3).[0m ×2 + 14.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.50sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788486497.85492587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 14.70sINFOros2_control_node[2026-09-04 01:48:18.059] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-04 01:48:18.059] [info] Accepted new action goal ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581529 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581529 ms (missed cycles : 4).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132325 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132325 ms (missed cycles : 2).[0m ×2 + 16.75sWARNros2_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 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916954 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916954 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 62 warnings · 410 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.83sERRORobjective_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: 1788486689.72523069 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.42sINFOobjective_server_nodecaller: ×14 + 2.42sINFOobjective_server_nodetype: 0 ×14 + 2.42sINFOobjective_server_nodename: "" ×14 + 2.42sINFOobjective_server_nodeinstance_id: "" ×14 + 2.42sINFOobjective_server_node ×14 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.78sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.94sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 5.26sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5).[0m ×2 + 7.25sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.25sINFOros2_control_node[2026-09-04 01:51:35.153] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-09-04 01:51:35.153] [info] Accepted new action goal ×2 + 7.25sINFOros2_control_node[2026-09-04 01:51:35.153] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757126 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757126 ms (missed cycles : 3).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470484 ms (missed cycles : 3). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470484 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768509 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768509 ms (missed cycles : 2).[0m ×2 + 10.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733464 ms (missed cycles : 4). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733464 ms (missed cycles : 4).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2).[0m ×2 + 13.92sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Got request to cancel active goal. ×2 + 13.92sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Canceling active goal... ×2 + 13.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486701.82396293 seconds ×3 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2).[0m ×2 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486702.41837263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486703.05849600 seconds ×3 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5).[0m ×2 + 15.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.70sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486703.65053940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.75sINFOobjective_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 + 15.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486703.65334821 seconds ×3 + 16.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486704.24635577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486704.24684954 seconds ×3 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2).[0m ×2 + 17.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486704.97889543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2).[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 2.303552 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303552 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557826 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557826 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013338 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013338 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_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 + 2.67sERRORobjective_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: 1788486668.23312092 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788486668.83266807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654245 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654245 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.58sINFOros2_control_node[2026-09-04 01:51:09.142] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-09-04 01:51:09.142] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132025 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132025 ms (missed cycles : 2).[0m ×2 + 4.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798383 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798383 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657805 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657805 ms (missed cycles : 4).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110592 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110592 ms (missed cycles : 2).[0m ×2 + 7.58sINFOros2_control_node[2026-09-04 01:51:13.149] [info] Received new action goal ×2 + 7.58sINFOros2_control_node[2026-09-04 01:51:13.149] [info] Accepted new action goal ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627183 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627183 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134463 ms (missed cycles : 5). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134463 ms (missed cycles : 5).[0m ×2 + 10.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706414 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706414 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215651 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215651 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100392 ms (missed cycles : 6). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100392 ms (missed cycles : 6).[0m ×2 + 13.17sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788486678.73420715 seconds ×3 + 13.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.76sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.82sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788486679.38488817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.93sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 13.94sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.94sINFOros2_control_node[2026-09-04 01:51:19.509] [info] Received new action goal ×2 + 13.94sINFOros2_control_node[2026-09-04 01:51:19.509] [info] Accepted new action goal ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707068 ms (missed cycles : 6). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707068 ms (missed cycles : 6).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002890 ms (missed cycles : 4). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002890 ms (missed cycles : 4).[0m ×2 + 15.78sWARNros2_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 + 15.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634695 ms (missed cycles : 4). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634695 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.4s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.68sERRORobjective_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: 1788486463.35780096 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.30sINFOobjective_server_nodecaller: ×8 + 2.30sINFOobjective_server_nodetype: 0 ×8 + 2.30sINFOobjective_server_nodename: "" ×8 + 2.30sINFOobjective_server_nodeinstance_id: "" ×8 + 2.30sINFOobjective_server_node ×8 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5).[0m ×2 + 6.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.82sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 7.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.25sINFOobjective_server_nodeFound path in 1 iterations (0.00299252 s). ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468272 ms (missed cycles : 6). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468272 ms (missed cycles : 6).[0m ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 7.47sINFOros2_control_node[2026-09-04 01:47:49.151] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-09-04 01:47:49.151] [info] Accepted new action goal ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049823 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049823 ms (missed cycles : 2).[0m ×2 + 9.18sWARNros2_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 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.788131 ms (missed cycles : 7). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.788131 ms (missed cycles : 7).[0m ×2 + 9.77sINFOros2_control_node[2026-09-04 01:47:51.453] [info] Received new action goal ×2 + 9.77sINFOros2_control_node[2026-09-04 01:47:51.453] [info] Accepted new action goal ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2).[0m ×2 + 11.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.53sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Received new action goal ×2 + 11.53sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Accepted new action goal ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2).[0m ×2 + 12.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486474.50203085 seconds ×3 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5).[0m ×2 + 13.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.37sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486475.13066530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486475.22077942 seconds ×3 + 14.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.13sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2).[0m ×2 + 14.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486475.85861206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 14.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.30sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Received new action goal ×2 + 14.30sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Accepted new action goal ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.4s | 61 errors · 39 warnings · 393 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_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 + 0.72sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Got request to cancel active goal. ×2 + 0.72sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Canceling active goal... ×2 + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486701.82396293 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.27sINFOobjective_server_nodecaller: ×8 + 1.27sINFOobjective_server_nodetype: 0 ×8 + 1.27sINFOobjective_server_nodename: "" ×8 + 1.27sINFOobjective_server_nodeinstance_id: "" ×8 + 1.27sINFOobjective_server_node ×8 + 1.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486702.41837263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486703.05849600 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486703.65053940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.55sINFOobjective_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 + 2.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486703.65334821 seconds ×3 + 2.80sWARNros2_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 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486704.24635577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486704.24684954 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486704.97889543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788486705.56904030 seconds ×3 + 4.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198101 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198101 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921346 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921346 ms (missed cycles : 5).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689112 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689112 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148495 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148495 ms (missed cycles : 3).[0m ×2 + 8.91sWARNros2_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 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506448 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506448 ms (missed cycles : 3).[0m ×2 + 9.87sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.88sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORweb_video_auth_proxy-23process has died [pid 7430, 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 + 9.88sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.89sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORweb_bridge_auth_proxy-22process has died [pid 7429, 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 + 9.89sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.89sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.90sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.90sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.90sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.91sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.91sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.92sINFOvideo_server-21process has finished cleanly [pid 7428] ×2 + 9.92sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.92sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.93sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.93sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.93sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.94sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.94sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.95sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.95sINFOcontroller_managerShutdown request received.... + 9.95sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.95sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.95sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.95sINFOvideo_server2026/09/04 01:51:50 INF shutting down gracefully ×2 + 9.95sINFOvideo_server2026/09/04 01:51:50 INF [WebRTC] closing ×2 + 9.95sINFOvideo_server2026/09/04 01:51:50 INF [RTSP] closing ×2 + 9.95sINFOvideo_server2026/09/04 01:51:50 INF waiting for running hooks ×2 + 9.95sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.95sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.95sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.95sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.95sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.95sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.95sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.95sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.95sINFOcontroller_managerShutting down the controller manager. + 9.95sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.96sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.96sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.96sERRORmove_groupStack trace (most recent call last) in thread 7787: ×2 + 9.96sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.96sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.96sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.96sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.96sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.96sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.96sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.96sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.96sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.96sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.96sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.96sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.96sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.96sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 9.96sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.96sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.96sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97c525ba63, in __clone ×2 + 9.96sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97c51ceaa3, in ×2 + 9.96sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97c5460db3, in ×2 + 9.96sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f97c5bc5a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.96sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f97c57f2620, in rclcpp::Rate::sleep() ×2 + 9.96sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f97c5734d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.96sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f97c56f6087, in ×2 + 9.96sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97c542f390, in __cxa_throw ×2 + 9.96sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97c5419a54, in std::terminate() ×2 + 9.96sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97c542f0d9, in ×2 + 9.96sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97c5419ff4, in ×2 + 9.96sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97c515a8fe, in abort ×2 + 9.96sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97c517727d, in raise ×2 + 9.96sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97c51d0b2c, in pthread_kill ×2 + 9.96sERRORmove_groupAborted (Signal sent by tkill() 7351 0) ×2 + 9.97sERRORmove_group-9process has died [pid 7351, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_m39c47sy --params-file /tmp/launch_params_y2w7i7s9 --params-file /tmp/launch_params_m3ikoz_y --params-file /tmp/launch_params_x81vyoqa --params-file /tmp/launch_params_to5ejfcy --params-file /tmp/launch_params_lxsrhb6d']. ×2 + 10.16sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.16sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.17sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.95sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7427] ×2 + 10.95sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.97sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7354] ×2 + 10.97sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7355] ×2 + 11.01sINFOcomponent_container_mt-16process has finished cleanly [pid 7358] ×2 + 11.01sINFOexecute_objective_bridge-17process has finished cleanly [pid 7359] ×2 + 11.02sINFOui_teleop_bridge-18process has finished cleanly [pid 7360] ×2 + 11.02sINFOparameter_manager_node-10process has finished cleanly [pid 7352] ×2 + 11.02sINFOwaypoint_manager_node-11process has finished cleanly [pid 7353] ×2 + 11.10sINFOobjective_server_node[0;m[2026-09-04 01:51:52.201] [moveit_pro_license] [info] ×2 + 11.10sINFOobjective_server_node************************************************* ×4 + 11.10sINFOobjective_server_node* MoveIt Pro License ×2 + 11.10sINFOobjective_server_node* Application has successfully terminated ×2 + 11.24sINFOobjective_server_node_main-14process has finished cleanly [pid 7356] ×2 + 11.24sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.93sINFOweb_bridge-19process has finished cleanly [pid 7361] ×2 + 11.93sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.11sINFOcomponent_container_mt-15process has finished cleanly [pid 7357] ×2 + 12.58sINFOros2_control_node-1process has finished cleanly [pid 7310] ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 31 warnings · 205 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645260 ms (missed cycles : 4). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645260 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580036 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580036 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788486520.41041350 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050152 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050152 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.80sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.80sINFOobjective_server_nodecaller: ×6 + 2.80sINFOobjective_server_nodetype: 0 ×6 + 2.80sINFOobjective_server_nodename: "" ×6 + 2.80sINFOobjective_server_nodeinstance_id: "" ×6 + 2.80sINFOobjective_server_node ×6 + 2.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788486521.07134771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788486521.13147354 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.50sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 7.37sINFOobjective_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 + 7.38sINFOobjective_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 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.71sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 7.71sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 691 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.41sINFOcomponent_container_mt[2026-09-04 01:47:14.395] [moveit_pro_license] [info] ×2 + 0.41sINFOcomponent_container_mt************************************************* ×4 + 0.41sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.41sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.44sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.45sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.45sWARNros2_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 + 0.45sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.45sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.45sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.45sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.45sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.45sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.45sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.45sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.45sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.45sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.45sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.45sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.45sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.45sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.45sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.45sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.45sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.45sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.45sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.45sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.45sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.45sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.45sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.45sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.45sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.45sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.45sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.45sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.55sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.57sINFOforce_torque_sensor_broadcasterconfigure successful + 0.57sINFOros2_control_nodeconfigure successful[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.58sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.58sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.58sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.58sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.88sINFOros2-2process has finished cleanly [pid 7311] ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681604 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681604 ms (missed cycles : 2).[0m ×2 + 0.96sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.96sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 1.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.04sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 1.04sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.04sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.07sINFOros2_control_node[2026-09-04 01:47:15.055] [info] Controller state will be published at 10 Hz. ×2 + 1.07sINFOros2_control_node[2026-09-04 01:47:15.056] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 1.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 1.32sINFOros2-7process has finished cleanly [pid 7327] ×2 + 1.33sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.36sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.36sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.36sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.36sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.36sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.37sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.46sWARNobjective_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 + 1.68sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.68sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.68sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.71sINFOros2-3process has finished cleanly [pid 7312] ×2 + 1.75sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 1.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 1.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.79sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.82sINFOros2_control_node[2026-09-04 01:47:15.799] [info] Controller state will be published at 20 Hz. ×2 + 1.82sINFOros2_control_node[2026-09-04 01:47:15.800] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.92sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5).[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 2.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 2.19sINFOros2-8process has finished cleanly [pid 7328] ×2 + 2.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.20sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.21sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.21sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 2.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 2.51sINFOros2-5process has finished cleanly [pid 7325] ×2 + 2.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.67sINFOobjective_server_nodecaller: ×14 + 2.67sINFOobjective_server_nodetype: 0 ×14 + 2.67sINFOobjective_server_nodename: "" ×14 + 2.67sINFOobjective_server_nodeinstance_id: "" ×14 + 2.67sINFOobjective_server_node ×14 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486436.70413733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486436.71435046 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.87sINFOros2-4process has finished cleanly [pid 7324] ×2 + 2.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 2.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 2.96sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.96sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.96sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.96sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.96sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.98sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.98sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 2.99sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486437.29771590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.33sINFOros2-6process has finished cleanly [pid 7326] ×2 + 4.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 4.71sWARNros2_control_nodeCamera render tick took 1.99 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 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 5.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 7.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 7.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.78sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.98sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 7.98sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733464 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733464 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Canceling active goal... ×2 + 2.93sERRORobjective_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: 1788486701.82396293 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.48sINFOobjective_server_nodecaller: ×8 + 3.48sINFOobjective_server_nodetype: 0 ×8 + 3.48sINFOobjective_server_nodename: "" ×8 + 3.48sINFOobjective_server_nodeinstance_id: "" ×8 + 3.48sINFOobjective_server_node ×8 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486702.41837263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486703.05849600 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486703.65053940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.76sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486703.65334821 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486704.24635577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486704.24684954 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486704.97889543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788486705.56904030 seconds ×3 + 6.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198101 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198101 ms (missed cycles : 2).[0m ×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 2.787546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2).[0m ×2 + 0.71sINFOobjective_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 + 0.72sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Got request to cancel active goal. ×2 + 0.72sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Canceling active goal... ×2 + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486701.82396293 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.27sINFOobjective_server_nodecaller: ×8 + 1.27sINFOobjective_server_nodetype: 0 ×8 + 1.27sINFOobjective_server_nodename: "" ×8 + 1.27sINFOobjective_server_nodeinstance_id: "" ×8 + 1.27sINFOobjective_server_node ×8 + 1.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486702.41837263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486703.05849600 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486703.65053940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.55sINFOobjective_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 + 2.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486703.65334821 seconds ×3 + 2.80sWARNros2_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 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486704.24635577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486704.24684954 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486704.97889543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788486705.56904030 seconds ×3 + 4.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198101 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198101 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921346 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921346 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788486689.72523069 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.22sINFOobjective_server_nodecaller: ×6 + 3.22sINFOobjective_server_nodetype: 0 ×6 + 3.22sINFOobjective_server_nodename: "" ×6 + 3.22sINFOobjective_server_nodeinstance_id: "" ×6 + 3.22sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2).[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 2.827857 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827857 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645260 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645260 ms (missed cycles : 4).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580036 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580036 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788486520.41041350 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050152 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050152 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788486521.07134771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788486521.13147354 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.14sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 125 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.788131 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.788131 ms (missed cycles : 7).[0m ×2 + 0.02sINFOros2_control_node[2026-09-04 01:47:51.453] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-04 01:47:51.453] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486474.50203085 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486475.13066530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486475.22077942 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486475.85861206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.55sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Accepted new action goal ×2 + 4.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895712 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1788486463.35780096 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 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![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 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 3.79sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7312] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-09-04 01:47:15.799] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:15.800] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5).[0m ×2 + 0.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 7328] ×2 + 0.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.52sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 7325] ×2 + 0.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.99sINFOobjective_server_nodecaller: ×14 + 0.99sINFOobjective_server_nodetype: 0 ×14 + 0.99sINFOobjective_server_nodename: "" ×14 + 0.99sINFOobjective_server_nodeinstance_id: "" ×14 + 0.99sINFOobjective_server_node ×14 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486436.70413733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486436.71435046 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7324] ×2 + 1.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 1.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 1.28sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.28sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.28sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.28sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.30sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 1.31sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486437.29771590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.65sINFOros2-6process has finished cleanly [pid 7326] ×2 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 3.03sWARNros2_control_nodeCamera render tick took 1.99 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 4.29sWARNros2_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 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_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 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 28 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788486689.72523069 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.22sINFOobjective_server_nodecaller: ×6 + 3.22sINFOobjective_server_nodetype: 0 ×6 + 3.22sINFOobjective_server_nodename: "" ×6 + 3.22sINFOobjective_server_nodeinstance_id: "" ×6 + 3.22sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5).[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 5.355763 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Got request to cancel active goal. ×2 + 1.77sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Canceling active goal... ×2 + 1.78sERRORobjective_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: 1788486701.82396293 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.32sINFOobjective_server_nodecaller: ×8 + 2.32sINFOobjective_server_nodetype: 0 ×8 + 2.32sINFOobjective_server_nodename: "" ×8 + 2.32sINFOobjective_server_nodeinstance_id: "" ×8 + 2.32sINFOobjective_server_node ×8 + 2.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486702.41837263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486703.05849600 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.60sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486703.65053940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.61sINFOobjective_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 + 3.61sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486703.65334821 seconds ×3 + 3.85sWARNros2_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 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486704.24635577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486704.24684954 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486704.97889543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788486705.56904030 seconds ×3 + 5.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198101 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198101 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2).[0m ×2 + 1.56sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486646.05622625 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486646.76718664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4).[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 2.180688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2).[0m ×2 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486474.50203085 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486475.13066530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486475.22077942 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486475.85861206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Accepted new action goal ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895712 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1788486463.35780096 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 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![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 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 3.79sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895712 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895712 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1788486463.35780096 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 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![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 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 3.79sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[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 1.706124 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.68sERRORobjective_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: 1788486463.35780096 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5).[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 1.706124 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.68sERRORobjective_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: 1788486463.35780096 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5).[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 1.706124 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.68sERRORobjective_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: 1788486463.35780096 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5).[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 1.706124 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706124 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997452 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_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 + 1.68sERRORobjective_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: 1788486463.35780096 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046024 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486464.03483105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486464.12495828 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486464.76111698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160357 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-04 01:47:44.955] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989690 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988198 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951790 ms (missed cycles : 5).[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 2.180688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2).[0m ×2 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486474.50203085 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486475.13066530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486475.22077942 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486475.85861206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Accepted new action goal ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2).[0m ×2 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486474.50203085 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486475.13066530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486475.22077942 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486475.85861206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Accepted new action goal ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2).[0m ×2 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486474.50203085 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486475.13066530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486475.22077942 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486475.85861206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Accepted new action goal ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180688 ms (missed cycles : 2).[0m ×2 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 01:47:53.215] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045586 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486474.50203085 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117415 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486475.13066530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486475.22077942 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938639 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486475.85861206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-04 01:47:55.983] [info] Accepted new action goal ×2 + 3.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679859 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703908 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038833 ms (missed cycles : 2).[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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 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 13.349780 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.349780 ms (missed cycles : 9).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-04 01:48:04.040] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686931 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486486.28875971 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174983 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486486.91825080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 01:48:07.132] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868029 ms (missed cycles : 3).[0m ×2 + 4.73sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932664 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777253 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00375681 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOros2_control_node[2026-09-04 01:48:25.541] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-09-04 01:48:25.541] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902837 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902837 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-09-04 01:48:25.943] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 01:48:25.943] [info] Accepted new action goal ×2 + 1.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081886 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081886 ms (missed cycles : 2).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067245 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067245 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.16sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1788486508.34853005 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130541 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130541 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788486509.14989328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 01:48:29.335] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 01:48:29.335] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291776 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291776 ms (missed cycles : 4).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473107 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473107 ms (missed cycles : 2).[0m ×2 + 6.68sINFOros2_control_node[2026-09-04 01:48:31.838] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-09-04 01:48:31.838] [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 2.827857 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827857 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645260 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645260 ms (missed cycles : 4).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580036 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580036 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788486520.41041350 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050152 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050152 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788486521.07134771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788486521.13147354 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.14sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 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: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[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: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[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: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[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: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[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: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[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: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[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: 1788486521.72103477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 01:48:41.855] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309644 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995029 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486523.86117721 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218842 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486525.51048708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485623 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 01:48:45.928] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132520 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102541 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.902732 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.902732 ms (missed cycles : 8).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196327 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196327 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631801 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631801 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788486579.51342654 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486580.12109327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123091 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123091 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.27sINFOros2_control_node[2026-09-04 01:49:40.294] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-04 01:49:40.294] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109574 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109574 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_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 + 4.54sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387350 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387350 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872486 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872486 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2).[0m ×2 + 1.56sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486646.05622625 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486646.76718664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2).[0m ×2 + 1.56sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486646.05622625 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486646.76718664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2).[0m ×2 + 1.56sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486646.05622625 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486646.76718664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022993 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845197 ms (missed cycles : 2).[0m ×2 + 1.56sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720225 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486646.05622625 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476360 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486646.76718664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 01:50:46.991] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947518 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361839 ms (missed cycles : 6).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153163 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740746 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.090] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 01:50:55.091] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352968 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486656.37737465 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859880 ms (missed cycles : 3).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486657.88268256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-04 01:50:58.057] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407651 ms (missed cycles : 3).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.985052 ms (missed cycles : 8).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867413 ms (missed cycles : 5).[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 2.303552 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303552 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557826 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557826 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013338 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013338 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_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 + 2.67sERRORobjective_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: 1788486668.23312092 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788486668.83266807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654245 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654245 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.58sINFOros2_control_node[2026-09-04 01:51:09.142] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-09-04 01:51:09.142] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132025 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132025 ms (missed cycles : 2).[0m ×2 + 4.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798383 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798383 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706414 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706414 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215651 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215651 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100392 ms (missed cycles : 6). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100392 ms (missed cycles : 6).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788486678.73420715 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.29sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788486679.38488817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 01:51:19.509] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 01:51:19.509] [info] Accepted new action goal ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707068 ms (missed cycles : 6). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707068 ms (missed cycles : 6).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002890 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002890 ms (missed cycles : 4).[0m ×2 + 5.25sWARNros2_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 + 5.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634695 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788486689.72523069 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.22sINFOobjective_server_nodecaller: ×6 + 3.22sINFOobjective_server_nodetype: 0 ×6 + 3.22sINFOobjective_server_nodename: "" ×6 + 3.22sINFOobjective_server_nodeinstance_id: "" ×6 + 3.22sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788486689.72523069 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.22sINFOobjective_server_nodecaller: ×6 + 3.22sINFOobjective_server_nodetype: 0 ×6 + 3.22sINFOobjective_server_nodename: "" ×6 + 3.22sINFOobjective_server_nodeinstance_id: "" ×6 + 3.22sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788486689.72523069 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.22sINFOobjective_server_nodecaller: ×6 + 3.22sINFOobjective_server_nodetype: 0 ×6 + 3.22sINFOobjective_server_nodename: "" ×6 + 3.22sINFOobjective_server_nodeinstance_id: "" ×6 + 3.22sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409615 ms (missed cycles : 3).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788486689.72523069 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.22sINFOobjective_server_nodecaller: ×6 + 3.22sINFOobjective_server_nodetype: 0 ×6 + 3.22sINFOobjective_server_nodename: "" ×6 + 3.22sINFOobjective_server_nodeinstance_id: "" ×6 + 3.22sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sERRORobjective_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: 1788486689.72523069 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.42sINFOobjective_server_nodecaller: ×6 + 2.42sINFOobjective_server_nodetype: 0 ×6 + 2.42sINFOobjective_server_nodename: "" ×6 + 2.42sINFOobjective_server_nodeinstance_id: "" ×6 + 2.42sINFOobjective_server_node ×6 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.78sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.94sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 5.26sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sERRORobjective_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: 1788486689.72523069 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.42sINFOobjective_server_nodecaller: ×6 + 2.42sINFOobjective_server_nodetype: 0 ×6 + 2.42sINFOobjective_server_nodename: "" ×6 + 2.42sINFOobjective_server_nodeinstance_id: "" ×6 + 2.42sINFOobjective_server_node ×6 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.78sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.94sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 5.26sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707997 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143488 ms (missed cycles : 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sERRORobjective_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: 1788486689.72523069 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050312 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.42sINFOobjective_server_nodecaller: ×6 + 2.42sINFOobjective_server_nodetype: 0 ×6 + 2.42sINFOobjective_server_nodename: "" ×6 + 2.42sINFOobjective_server_nodeinstance_id: "" ×6 + 2.42sINFOobjective_server_node ×6 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486690.36636662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486690.45649147 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486691.05465221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486691.07734108 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065657 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.78sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486691.67928624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.94sINFOros2_control_node[2026-09-04 01:51:31.842] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-04 01:51:31.843] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974041 ms (missed cycles : 6).[0m ×2 + 5.26sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731061 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810736 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 210 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733464 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733464 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Canceling active goal... ×2 + 2.93sERRORobjective_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: 1788486701.82396293 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.48sINFOobjective_server_nodecaller: ×8 + 3.48sINFOobjective_server_nodetype: 0 ×8 + 3.48sINFOobjective_server_nodename: "" ×8 + 3.48sINFOobjective_server_nodeinstance_id: "" ×8 + 3.48sINFOobjective_server_node ×8 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486702.41837263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486703.05849600 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486703.65053940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.76sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486703.65334821 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486704.24635577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486704.24684954 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486704.97889543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 210 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733464 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733464 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355763 ms (missed cycles : 4).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787546 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 01:51:41.819] [info] Canceling active goal... ×2 + 2.93sERRORobjective_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: 1788486701.82396293 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340580 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.48sINFOobjective_server_nodecaller: ×8 + 3.48sINFOobjective_server_nodetype: 0 ×8 + 3.48sINFOobjective_server_nodename: "" ×8 + 3.48sINFOobjective_server_nodeinstance_id: "" ×8 + 3.48sINFOobjective_server_node ×8 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486702.41837263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486703.05849600 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895893 ms (missed cycles : 5).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486703.65053940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.76sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.76sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.76sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486703.65334821 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486704.24635577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486704.24684954 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200628 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486704.97889543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413973 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.8s | 45 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/2026-09-04-01-47-09-924391-1133930c35ce-7262 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_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. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949523 ms (missed cycles : 3). + 0.82sINFOros2_control_node-1process started with pid [7310] ×2 + 0.82sINFOmove_group-9process started with pid [7351] ×2 + 0.82sINFOparameter_manager_node-10process started with pid [7352] ×2 + 0.82sINFOwaypoint_manager_node-11process started with pid [7353] ×2 + 0.82sINFOmove_joint_resampler_node-12process started with pid [7354] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7355] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7356] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7357] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7358] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7359] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7360] ×2 + 0.83sINFOweb_bridge-19process started with pid [7361] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7427] ×2 + 0.83sINFOvideo_server-21process started with pid [7428] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7429] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7430] ×2 + 0.83sINFOros2-2process started with pid [7311] ×2 + 0.83sINFOros2-3process started with pid [7312] ×2 + 0.83sINFOros2-4process started with pid [7324] ×2 + 0.83sINFOros2-5process started with pid [7325] ×2 + 0.83sINFOros2-6process started with pid [7326] ×2 + 0.83sINFOros2-7process started with pid [7327] ×2 + 0.83sINFOros2-8process started with pid [7328] ×2 + 0.84sINFOcontroller_managerReceived robot description from topic. + 0.84sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.85sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.85sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949523 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.86sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.87sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.22sINFOvideo_server2026/09/04 01:47:11 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.22sINFOvideo_server2026/09/04 01:47:11 INF configuration loaded from /tmp/moveit-webrtc-62e40nos/mediamtx.yml ×2 + 1.22sINFOvideo_server2026/09/04 01:47:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.22sINFOvideo_server2026/09/04 01:47:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.46sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.73sINFOmove_group[2026-09-04 01:47:12.042] [moveit_pro_license] [info] ×2 + 1.73sINFOmove_group************************************************* ×4 + 1.73sINFOmove_group* MoveIt Pro License ×2 + 1.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286370 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286370 ms (missed cycles : 2).[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.99sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.99sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.99sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.99sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.00sINFOros2_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 + 2.00sINFOros2_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 + 2.01sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.09sINFOwaypoint_manager_node[2026-09-04 01:47:12.399] [moveit_pro_license] [info] ×2 + 2.09sINFOwaypoint_manager_node************************************************* ×4 + 2.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOmove_group ×4 + 2.14sINFOmove_group[92mYou can start planning now![0m ×2 + 2.19sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795459 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795459 ms (missed cycles : 2).[0m ×2 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.28sINFOobjective_server_node[2026-09-04 01:47:13.592] [moveit_pro_license] [info] ×2 + 3.28sINFOobjective_server_node************************************************* ×4 + 3.28sINFOobjective_server_node* MoveIt Pro License ×2 + 3.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.67sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.67sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.08sINFOcomponent_container_mt[2026-09-04 01:47:14.395] [moveit_pro_license] [info] ×2 + 4.08sINFOcomponent_container_mt************************************************* ×4 + 4.08sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.08sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.12sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.12sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.12sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.12sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.12sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.12sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.12sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.12sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.12sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.12sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.12sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.12sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.22sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.22sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.22sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 4.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 4.24sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.24sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.24sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.24sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.25sINFOforce_torque_sensor_broadcasterconfigure successful + 4.25sINFOros2_control_nodeconfigure successful[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.25sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.25sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.25sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.51sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.51sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.51sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.55sINFOros2-2process has finished cleanly [pid 7311] ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681604 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681604 ms (missed cycles : 2).[0m ×2 + 4.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 4.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 4.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.72sINFOros2_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 + 4.72sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.72sWARNros2_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 + 4.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.74sINFOros2_control_node[2026-09-04 01:47:15.055] [info] Controller state will be published at 10 Hz. ×2 + 4.74sINFOros2_control_node[2026-09-04 01:47:15.056] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.99sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.99sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.99sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.99sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.99sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 4.99sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 5.00sINFOros2-7process has finished cleanly [pid 7327] ×2 + 5.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.03sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.03sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.03sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.03sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 5.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.04sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.04sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.13sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.38sINFOros2-3process has finished cleanly [pid 7312] ×2 + 5.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 5.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 5.46sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.46sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.49sINFOros2_control_node[2026-09-04 01:47:15.799] [info] Controller state will be published at 20 Hz. ×2 + 5.49sINFOros2_control_node[2026-09-04 01:47:15.800] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5).[0m ×2 + 5.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 5.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 5.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 5.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 5.86sINFOros2-8process has finished cleanly [pid 7328] ×2 + 5.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.86sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.16sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.16sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.16sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.16sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.16sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 6.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 6.18sINFOros2-5process has finished cleanly [pid 7325] ×2 + 6.20sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.20sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.20sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.20sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.20sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.20sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.21sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.21sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.21sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.34sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.34sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.34sINFOobjective_server_nodecaller: ×10 + 6.34sINFOobjective_server_nodetype: 0 ×10 + 6.34sINFOobjective_server_nodename: "" ×10 + 6.34sINFOobjective_server_nodeinstance_id: "" ×10 + 6.34sINFOobjective_server_node ×10 + 6.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486436.70413733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486436.71435046 seconds ×3 + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.53sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.53sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.53sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.55sINFOros2-4process has finished cleanly [pid 7324] ×2 + 6.60sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 6.60sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 6.63sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.63sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.63sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.63sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.66sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.66sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 6.66sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×2 + 6.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.94sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486437.29771590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.01sINFOros2-6process has finished cleanly [pid 7326] ×2 + 8.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 8.38sWARNros2_control_nodeCamera render tick took 1.99 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 + 8.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 9.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 9.65sWARNros2_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 + 9.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 378 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.10sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×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: 1788486437.29771590 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 + 0.48sINFOros2-6process has finished cleanly [pid 7326] ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 1.86sWARNros2_control_nodeCamera render tick took 1.99 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 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 7.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 7.61sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.64sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 7.64sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 475 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7328] ×2 + 0.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.30sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.30sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.30sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.31sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.31sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.32sINFOros2-5process has finished cleanly [pid 7325] ×2 + 0.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.34sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.35sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.35sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.48sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.48sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.48sINFOobjective_server_nodecaller: ×14 + 0.48sINFOobjective_server_nodetype: 0 ×14 + 0.48sINFOobjective_server_nodename: "" ×14 + 0.48sINFOobjective_server_nodeinstance_id: "" ×14 + 0.48sINFOobjective_server_node ×14 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486436.70413733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486436.71435046 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.67sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.67sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.69sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.77sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.77sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.78sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.78sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.80sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 0.80sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486437.29771590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOros2-6process has finished cleanly [pid 7326] ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 2.53sWARNros2_control_nodeCamera render tick took 1.99 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 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 3.79sWARNros2_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 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_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 (2.6557e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 12 warnings · 183 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/2026-09-04-01-47-09-924391-1133930c35ce-7262 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_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. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949523 ms (missed cycles : 3). + 0.82sINFOros2_control_node-1process started with pid [7310] ×2 + 0.82sINFOmove_group-9process started with pid [7351] ×2 + 0.82sINFOparameter_manager_node-10process started with pid [7352] ×2 + 0.82sINFOwaypoint_manager_node-11process started with pid [7353] ×2 + 0.82sINFOmove_joint_resampler_node-12process started with pid [7354] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7355] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7356] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7357] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7358] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7359] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7360] ×2 + 0.83sINFOweb_bridge-19process started with pid [7361] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7427] ×2 + 0.83sINFOvideo_server-21process started with pid [7428] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7429] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7430] ×2 + 0.83sINFOros2-2process started with pid [7311] ×2 + 0.83sINFOros2-3process started with pid [7312] ×2 + 0.83sINFOros2-4process started with pid [7324] ×2 + 0.83sINFOros2-5process started with pid [7325] ×2 + 0.83sINFOros2-6process started with pid [7326] ×2 + 0.83sINFOros2-7process started with pid [7327] ×2 + 0.83sINFOros2-8process started with pid [7328] ×2 + 0.84sINFOcontroller_managerReceived robot description from topic. + 0.84sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.85sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.85sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949523 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.86sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.87sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.22sINFOvideo_server2026/09/04 01:47:11 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.22sINFOvideo_server2026/09/04 01:47:11 INF configuration loaded from /tmp/moveit-webrtc-62e40nos/mediamtx.yml ×2 + 1.22sINFOvideo_server2026/09/04 01:47:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.22sINFOvideo_server2026/09/04 01:47:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.46sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.73sINFOmove_group[2026-09-04 01:47:12.042] [moveit_pro_license] [info] ×2 + 1.73sINFOmove_group************************************************* ×4 + 1.73sINFOmove_group* MoveIt Pro License ×2 + 1.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286370 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286370 ms (missed cycles : 2).[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.99sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.99sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.99sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.99sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.00sINFOros2_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 + 2.00sINFOros2_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 + 2.01sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.09sINFOwaypoint_manager_node[2026-09-04 01:47:12.399] [moveit_pro_license] [info] ×2 + 2.09sINFOwaypoint_manager_node************************************************* ×4 + 2.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOmove_group ×4 + 2.14sINFOmove_group[92mYou can start planning now![0m ×2 + 2.19sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795459 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795459 ms (missed cycles : 2).[0m ×2 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.28sINFOobjective_server_node[2026-09-04 01:47:13.592] [moveit_pro_license] [info] ×2 + 3.28sINFOobjective_server_node************************************************* ×4 + 3.28sINFOobjective_server_node* MoveIt Pro License ×2 + 3.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7312] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-09-04 01:47:15.799] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:15.800] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5).[0m ×2 + 0.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 7328] ×2 + 0.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.52sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 7325] ×2 + 0.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.99sINFOobjective_server_nodecaller: ×14 + 0.99sINFOobjective_server_nodetype: 0 ×14 + 0.99sINFOobjective_server_nodename: "" ×14 + 0.99sINFOobjective_server_nodeinstance_id: "" ×14 + 0.99sINFOobjective_server_node ×14 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486436.70413733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486436.71435046 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7324] ×2 + 1.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 1.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 1.28sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.28sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.28sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.28sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.30sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 1.31sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486437.29771590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.65sINFOros2-6process has finished cleanly [pid 7326] ×2 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 3.03sWARNros2_control_nodeCamera render tick took 1.99 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 4.29sWARNros2_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 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_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 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7312] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-09-04 01:47:15.799] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:15.800] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5).[0m ×2 + 0.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 7328] ×2 + 0.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.52sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 7325] ×2 + 0.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.99sINFOobjective_server_nodecaller: ×14 + 0.99sINFOobjective_server_nodetype: 0 ×14 + 0.99sINFOobjective_server_nodename: "" ×14 + 0.99sINFOobjective_server_nodeinstance_id: "" ×14 + 0.99sINFOobjective_server_node ×14 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486436.70413733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486436.71435046 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7324] ×2 + 1.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 1.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 1.28sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.28sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.28sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.28sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.30sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 1.31sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486437.29771590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.65sINFOros2-6process has finished cleanly [pid 7326] ×2 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 3.03sWARNros2_control_nodeCamera render tick took 1.99 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 4.29sWARNros2_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 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_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 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7312] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-09-04 01:47:15.799] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:15.800] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615652 ms (missed cycles : 5).[0m ×2 + 0.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 7328] ×2 + 0.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.52sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 7325] ×2 + 0.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.99sINFOobjective_server_nodecaller: ×14 + 0.99sINFOobjective_server_nodetype: 0 ×14 + 0.99sINFOobjective_server_nodename: "" ×14 + 0.99sINFOobjective_server_nodeinstance_id: "" ×14 + 0.99sINFOobjective_server_node ×14 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486436.70413733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486436.71435046 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7324] ×2 + 1.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 1.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 1.28sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.28sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.28sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.28sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.30sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 1.31sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486437.29771590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.65sINFOros2-6process has finished cleanly [pid 7326] ×2 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 3.03sWARNros2_control_nodeCamera render tick took 1.99 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 4.29sWARNros2_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 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_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 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 475 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7328] ×2 + 0.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.30sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.30sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.30sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.31sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.31sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.32sINFOros2-5process has finished cleanly [pid 7325] ×2 + 0.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.34sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.35sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.35sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.48sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.48sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.48sINFOobjective_server_nodecaller: ×14 + 0.48sINFOobjective_server_nodetype: 0 ×14 + 0.48sINFOobjective_server_nodename: "" ×14 + 0.48sINFOobjective_server_nodeinstance_id: "" ×14 + 0.48sINFOobjective_server_node ×14 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486436.70413733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486436.71435046 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.67sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.67sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.69sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.77sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.77sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.78sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.78sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.80sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 0.80sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486437.29771590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOros2-6process has finished cleanly [pid 7326] ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 2.53sWARNros2_control_nodeCamera render tick took 1.99 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 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 3.79sWARNros2_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 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_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 (2.6557e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 362 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sbw2_wif --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xu0x5xoa --params-file /tmp/launch_params_53w1v9bt [0m ×2 + 0.10sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-04 01:47:16.944] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:16.968] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:16.968] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:47:16.973] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003648 ms (missed cycles : 4).[0m ×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: 1788486437.29771590 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 + 0.48sINFOros2-6process has finished cleanly [pid 7326] ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 1.86sWARNros2_control_nodeCamera render tick took 1.99 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 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [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 |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988617 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988617 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486438.40787339 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815962 ms (missed cycles : 5).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.99 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 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486439.02790213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486439.08809042 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960674 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486439.74079752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486439.75091624 seconds ×3 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486440.34160924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486440.49215722 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216723 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486441.17590189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486441.21602678 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761871 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486441.82538629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.6557e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 01:47:21.962] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142414 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960733 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 01:47:24.480] [info] Accepted new action goal ×2 | ||||