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 · 20388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356737 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745019 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745019 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032233 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032233 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788486674.73447180 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486675.33799505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.05sINFOros2_control_node[2026-09-04 01:51:15.511] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-04 01:51:15.511] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788388 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788388 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584652 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584652 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_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 + 4.34sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826960 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826960 ms (missed cycles : 2).[0m ×2 + 6.12sWARNros2_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 ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006780 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006780 ms (missed cycles : 2).[0m ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal ×3354 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal ×3354 + 6.45sINFOros2_control_nodeReceived new action goal[0m ×6708 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×6708 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887015 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887015 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185725 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185725 ms (missed cycles : 4).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188706 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188706 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102327 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102327 ms (missed cycles : 2).[0m ×2 + 11.40sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.40sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.40sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.40sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314820 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314820 ms (missed cycles : 3).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170489 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170489 ms (missed cycles : 2).[0m ×2 + 12.99sWARNros2_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 ×4 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973400 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973400 ms (missed cycles : 2).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858287 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858287 ms (missed cycles : 2).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109419 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109419 ms (missed cycles : 2).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095547 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095547 ms (missed cycles : 3).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053345 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053345 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553613 ms (missed cycles : 4). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553613 ms (missed cycles : 4).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147784 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147784 ms (missed cycles : 2).[0m ×2 + 19.97sWARNros2_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 ×4 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165139 ms (missed cycles : 2). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165139 ms (missed cycles : 2).[0m ×2 + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699300 ms (missed cycles : 2). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699300 ms (missed cycles : 2).[0m ×2 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805960 ms (missed cycles : 2). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805960 ms (missed cycles : 2).[0m ×2 + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951425 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951425 ms (missed cycles : 3).[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766250 ms (missed cycles : 2). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766250 ms (missed cycles : 2).[0m ×2 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902117 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902117 ms (missed cycles : 2).[0m ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257959 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257959 ms (missed cycles : 2).[0m ×2 + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024805 ms (missed cycles : 3). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024805 ms (missed cycles : 3).[0m ×2 + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837545 ms (missed cycles : 2). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837545 ms (missed cycles : 2).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019054 ms (missed cycles : 4). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019054 ms (missed cycles : 4).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112267 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112267 ms (missed cycles : 2).[0m ×2 + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273634 ms (missed cycles : 4). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273634 ms (missed cycles : 4).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103925 ms (missed cycles : 3). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103925 ms (missed cycles : 3).[0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099348 ms (missed cycles : 2). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099348 ms (missed cycles : 2).[0m ×2 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175831 ms (missed cycles : 2). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175831 ms (missed cycles : 2).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324429 ms (missed cycles : 2). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324429 ms (missed cycles : 2).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909859 ms (missed cycles : 2). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909859 ms (missed cycles : 2).[0m ×2 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688699 ms (missed cycles : 2). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688699 ms (missed cycles : 2).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470524 ms (missed cycles : 4). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470524 ms (missed cycles : 4).[0m ×2 + 39.97sWARNros2_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 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721368 ms (missed cycles : 2). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721368 ms (missed cycles : 2).[0m ×2 + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605727 ms (missed cycles : 2). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605727 ms (missed cycles : 2).[0m ×2 + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304530 ms (missed cycles : 3). + 42.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304530 ms (missed cycles : 3).[0m ×2 + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767005 ms (missed cycles : 2). + 43.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767005 ms (missed cycles : 2).[0m ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671691 ms (missed cycles : 2). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671691 ms (missed cycles : 2).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758160 ms (missed cycles : 2). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758160 ms (missed cycles : 2).[0m ×2 + 46.16sWARNros2_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 + 46.25sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.71sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486719.16826248 seconds ×3 + 46.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755513 ms (missed cycles : 2). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755513 ms (missed cycles : 2).[0m ×2 + 47.25sINFOobjective_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: ""
+ 47.25sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486719.79790282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.39sINFOobjective_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 + 47.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.48sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 47.49sINFOros2_control_node[2026-09-04 01:51:59.951] [info] Received new action goal ×2 + 47.49sINFOros2_control_node[2026-09-04 01:51:59.951] [info] Accepted new action goal ×2 + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891871 ms (missed cycles : 3). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891871 ms (missed cycles : 3).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807895 ms (missed cycles : 2). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807895 ms (missed cycles : 2).[0m ×2 + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642289 ms (missed cycles : 6). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642289 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.1s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.46sWARNros2_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 ×4 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 7.07sINFOros2_control_node[2026-09-04 01:50:23.732] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-04 01:50:23.732] [info] Accepted new action goal ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607268 ms (missed cycles : 3). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607268 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745520 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745520 ms (missed cycles : 2).[0m ×2 + 9.52sWARNros2_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 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900218 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900218 ms (missed cycles : 2).[0m ×2 + 10.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.35sINFOros2_control_node[2026-09-04 01:50:27.012] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-09-04 01:50:27.012] [info] Accepted new action goal ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656943 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656943 ms (missed cycles : 3).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211672 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211672 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.788999 ms (missed cycles : 7). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.788999 ms (missed cycles : 7).[0m ×2 + 13.33sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.38sINFOros2_control_node[2026-09-04 01:50:30.035] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-09-04 01:50:30.035] [info] Accepted new action goal ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223454 ms (missed cycles : 8). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223454 ms (missed cycles : 8).[0m ×2 + 14.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328256 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328256 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643609 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643609 ms (missed cycles : 2).[0m ×2 + 16.34sINFOobjective_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 + 16.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477813 ms (missed cycles : 4). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477813 ms (missed cycles : 4).[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615248 ms (missed cycles : 3). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615248 ms (missed cycles : 3).[0m ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.547641 ms (missed cycles : 7). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.547641 ms (missed cycles : 7).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023731 ms (missed cycles : 3). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023731 ms (missed cycles : 3).[0m ×2 + 20.85sWARNros2_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 ×4 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122307 ms (missed cycles : 5). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122307 ms (missed cycles : 5).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761210 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761210 ms (missed cycles : 3).[0m ×2 + 23.93sINFOobjective_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 + 23.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.93sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.93sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.93sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.93sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746473 ms (missed cycles : 2). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746473 ms (missed cycles : 2).[0m ×2 + 24.81sINFOros2_control_node[2026-09-04 01:50:41.471] [info] Received new action goal ×2 + 24.81sINFOros2_control_node[2026-09-04 01:50:41.471] [info] Accepted new action goal ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028980 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028980 ms (missed cycles : 2).[0m ×2 + 26.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.01sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299473 ms (missed cycles : 2). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299473 ms (missed cycles : 2).[0m ×2 + 26.29sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 26.34sINFOros2_control_node[2026-09-04 01:50:42.995] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-04 01:50:42.995] [info] Accepted new action goal ×2 + 27.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874432 ms (missed cycles : 3). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874432 ms (missed cycles : 3).[0m ×2 + 27.51sWARNros2_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 ×4 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435737 ms (missed cycles : 4). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435737 ms (missed cycles : 4).[0m ×2 + 28.63sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 28.64sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.64sINFOros2_control_node[2026-09-04 01:50:45.302] [info] Received new action goal ×2 + 28.64sINFOros2_control_node[2026-09-04 01:50:45.302] [info] Accepted new action goal ×2 + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228629 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228629 ms (missed cycles : 2).[0m ×2 + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201111 ms (missed cycles : 2). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201111 ms (missed cycles : 2).[0m ×2 + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063513 ms (missed cycles : 2). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063513 ms (missed cycles : 2).[0m ×2 + 31.77sINFOros2_control_node[2026-09-04 01:50:48.431] [info] Received new action goal ×2 + 31.77sINFOros2_control_node[2026-09-04 01:50:48.431] [info] Accepted new action goal ×2 + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399770 ms (missed cycles : 5). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399770 ms (missed cycles : 5).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542717 ms (missed cycles : 3). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542717 ms (missed cycles : 3).[0m ×2 + 34.37sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 34.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.42sINFOros2_control_node[2026-09-04 01:50:51.075] [info] Received new action goal ×2 + 34.42sINFOros2_control_node[2026-09-04 01:50:51.075] [info] Accepted new action goal ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.105067 ms (missed cycles : 5). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.105067 ms (missed cycles : 5).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460414 ms (missed cycles : 4). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460414 ms (missed cycles : 4).[0m ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633308 ms (missed cycles : 3). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633308 ms (missed cycles : 3).[0m ×2 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.452075 ms (missed cycles : 4). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.452075 ms (missed cycles : 4).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903815 ms (missed cycles : 2). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903815 ms (missed cycles : 2).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835172 ms (missed cycles : 3). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835172 ms (missed cycles : 3).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600647 ms (missed cycles : 4). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600647 ms (missed cycles : 4).[0m ×2 + 42.05sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066142 ms (missed cycles : 2). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066142 ms (missed cycles : 2).[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872942 ms (missed cycles : 6). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872942 ms (missed cycles : 6).[0m ×2 + 44.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155149 ms (missed cycles : 2). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155149 ms (missed cycles : 2).[0m ×2 + 45.11sINFOros2_control_node[2026-09-04 01:51:01.771] [info] Received new action goal ×2 + 45.11sINFOros2_control_node[2026-09-04 01:51:01.771] [info] Accepted new action goal ×2 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571141 ms (missed cycles : 3). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571141 ms (missed cycles : 3).[0m ×2 + 46.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788486662.93786979 seconds ×3 + 46.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.88sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.07sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788486663.72432089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680255 ms (missed cycles : 4). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680255 ms (missed cycles : 4).[0m ×2 + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519663 ms (missed cycles : 3). + 48.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519663 ms (missed cycles : 3).[0m ×2 + 48.32sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 48.34sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.35sINFOros2_control_node[2026-09-04 01:51:05.009] [info] Received new action goal ×2 + 48.35sINFOros2_control_node[2026-09-04 01:51:05.009] [info] Accepted new action goal ×2 + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447952 ms (missed cycles : 2). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447952 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13968 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2295 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2295 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4590 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4590 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767005 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767005 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671691 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671691 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758160 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758160 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_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 ×4 + 2.80sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486719.16826248 seconds ×3 + 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 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 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_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755513 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755513 ms (missed cycles : 2).[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: 1788486719.79790282 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 + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.04sINFOros2_control_node[2026-09-04 01:51:59.951] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-04 01:51:59.951] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891871 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891871 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.35sINFOobjective_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 + 5.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807895 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807895 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642289 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642289 ms (missed cycles : 6).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702898 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702898 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841960 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841960 ms (missed cycles : 3).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681051 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681051 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836191 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836191 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342008 ms (missed cycles : 4). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342008 ms (missed cycles : 4).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938513 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938513 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994817 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994817 ms (missed cycles : 2).[0m ×2 + 14.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747602 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747602 ms (missed cycles : 2).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013552 ms (missed cycles : 5). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013552 ms (missed cycles : 5).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587901 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587901 ms (missed cycles : 2).[0m ×2 + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316600 ms (missed cycles : 2). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316600 ms (missed cycles : 2).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876143 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876143 ms (missed cycles : 2).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694342 ms (missed cycles : 2). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694342 ms (missed cycles : 2).[0m ×2 + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567055 ms (missed cycles : 4). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567055 ms (missed cycles : 4).[0m ×2 + 21.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632598 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632598 ms (missed cycles : 4).[0m ×2 + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7). + 23.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7).[0m ×2 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2).[0m ×2 + 25.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486741.27754998 seconds ×3 + 25.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.98sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486741.98312020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4).[0m ×2 + 26.27sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 26.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.28sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Received new action goal ×2 + 26.28sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Accepted new action goal ×2 + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6).[0m ×2 + 27.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 57 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185672 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185672 ms (missed cycles : 5).[0m ×2 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.26sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.39sINFOobjective_server_nodeFound path in 1 iterations (0.00339224 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.63sINFOros2_control_node[2026-09-04 01:50:01.594] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 01:50:01.594] [info] Accepted new action goal ×2 + 1.03sINFOros2_control_node[2026-09-04 01:50:01.996] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-04 01:50:01.996] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915830 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915830 ms (missed cycles : 5).[0m ×2 + 1.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.35sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.35sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.39sERRORobjective_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: 1788486603.35126662 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315129 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315129 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788486604.13315129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.34sINFOros2_control_node[2026-09-04 01:50:04.297] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 01:50:04.297] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269536 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269536 ms (missed cycles : 4).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822043 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822043 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.611065 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.611065 ms (missed cycles : 5).[0m ×2 + 5.84sINFOros2_control_node[2026-09-04 01:50:06.798] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-04 01:50:06.798] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498785 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498785 ms (missed cycles : 3).[0m ×2 + 7.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622341 ms (missed cycles : 6). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622341 ms (missed cycles : 6).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067558 ms (missed cycles : 5). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067558 ms (missed cycles : 5).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696946 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696946 ms (missed cycles : 3).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854221 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854221 ms (missed cycles : 3).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447287 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447287 ms (missed cycles : 3).[0m ×2 + 12.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702726 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702726 ms (missed cycles : 2).[0m ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817222 ms (missed cycles : 5). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817222 ms (missed cycles : 5).[0m ×2 + 14.41sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788486615.37004685 seconds ×3 + 15.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.02sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788486616.02536058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.12sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788486616.11550355 seconds ×3 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677525 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677525 ms (missed cycles : 2).[0m ×2 + 15.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.70sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.85sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 15.85sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.86sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 15.86sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 17.87sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872942 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872942 ms (missed cycles : 6).[0m ×2 + 0.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.57sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.57sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.57sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155149 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155149 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.45sINFOros2_control_node[2026-09-04 01:51:01.771] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-09-04 01:51:01.771] [info] Accepted new action goal ×2 + 1.88sWARNros2_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571141 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571141 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788486662.93786979 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[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 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788486663.72432089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680255 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680255 ms (missed cycles : 4).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519663 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519663 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.69sINFOros2_control_node[2026-09-04 01:51:05.009] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-09-04 01:51:05.009] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447952 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447952 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545876 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545876 ms (missed cycles : 6).[0m ×2 + 6.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545570 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545570 ms (missed cycles : 3).[0m ×2 + 8.38sINFOobjective_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 ×6 + 8.38sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.38sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.38sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.38sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495597 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495597 ms (missed cycles : 2).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309383 ms (missed cycles : 4). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309383 ms (missed cycles : 4).[0m ×2 + 10.78sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 10.79sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.81sINFOros2_control_node[2026-09-04 01:51:11.129] [info] Received new action goal ×2 + 10.81sINFOros2_control_node[2026-09-04 01:51:11.129] [info] Accepted new action goal ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604969 ms (missed cycles : 3). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604969 ms (missed cycles : 3).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356737 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356737 ms (missed cycles : 2).[0m ×2 + 12.83sWARNros2_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 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745019 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745019 ms (missed cycles : 2).[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032233 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032233 ms (missed cycles : 2).[0m ×2 + 14.41sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788486674.73447180 seconds ×3 + 14.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.95sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486675.33799505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 15.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.19sINFOros2_control_node[2026-09-04 01:51:15.511] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-09-04 01:51:15.511] [info] Accepted new action goal ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788388 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788388 ms (missed cycles : 2).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584652 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584652 ms (missed cycles : 2).[0m ×2 + 16.47sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.48sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826960 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826960 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 61 errors · 37 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1788486796.88775587 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486797.48134470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486798.52146888 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486799.11111069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.23sINFOobjective_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 + 2.23sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486799.11363959 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486799.71275449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486799.71326160 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486800.44131398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373206 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373206 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788486801.55143595 seconds ×3 + 4.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883975 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883975 ms (missed cycles : 2).[0m ×2 + 5.62sWARNros2_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 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146677 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146677 ms (missed cycles : 3).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464168 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464168 ms (missed cycles : 4).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850364 ms (missed cycles : 3). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850364 ms (missed cycles : 3).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568891 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568891 ms (missed cycles : 3).[0m ×2 + 10.62sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.63sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.63sERRORweb_video_auth_proxy-23process has died [pid 7438, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.64sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.64sERRORweb_bridge_auth_proxy-22process has died [pid 7437, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.64sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.65sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.65sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.66sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.66sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.66sINFOvideo_server-21process has finished cleanly [pid 7436] ×2 + 10.66sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.67sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.67sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.68sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.68sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.69sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.69sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.70sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.70sINFOcontroller_managerShutdown request received.... + 10.70sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.70sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.70sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.70sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.70sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.70sINFOvideo_server2026/09/04 01:53:27 INF shutting down gracefully ×2 + 10.70sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.70sINFOvideo_server2026/09/04 01:53:27 INF [WebRTC] closing ×2 + 10.70sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.70sINFOvideo_server2026/09/04 01:53:27 INF [RTSP] closing ×2 + 10.70sINFOvideo_server2026/09/04 01:53:27 INF waiting for running hooks ×2 + 10.70sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.70sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.70sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOcontroller_managerShutting down the controller manager. + 10.70sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.70sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.70sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.70sERRORmove_groupStack trace (most recent call last) in thread 7788: ×2 + 10.70sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.70sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.71sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.71sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.71sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.71sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.71sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.71sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.71sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.71sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.71sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.71sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0c13f7a63, in __clone ×2 + 10.71sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0c136aaa3, in ×2 + 10.71sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd0c15fcdb3, in ×2 + 10.71sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fd0c1d61a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.71sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0c198e620, in rclcpp::Rate::sleep() ×2 + 10.71sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0c18d0d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.71sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd0c1892087, in ×2 + 10.71sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd0c15cb390, in __cxa_throw ×2 + 10.71sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd0c15b5a54, in std::terminate() ×2 + 10.71sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd0c15cb0d9, in ×2 + 10.71sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd0c15b5ff4, in ×2 + 10.71sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0c12f68fe, in abort ×2 + 10.71sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0c131327d, in raise ×2 + 10.71sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd0c136cb2c, in pthread_kill ×2 + 10.71sERRORmove_groupAborted (Signal sent by tkill() 7347 0) ×2 + 10.73sERRORmove_group-9process has died [pid 7347, 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_rejkjps1 --params-file /tmp/launch_params_1jibumhm --params-file /tmp/launch_params_7y3a_5kp --params-file /tmp/launch_params_js8ytiw8 --params-file /tmp/launch_params_d44hc93c --params-file /tmp/launch_params_1pknpcrw']. ×2 + 10.91sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.91sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.69sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7428] ×2 + 11.69sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.72sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7351] ×2 + 11.72sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7350] ×2 + 11.75sINFOexecute_objective_bridge-17process has finished cleanly [pid 7355] ×2 + 11.75sINFOparameter_manager_node-10process has finished cleanly [pid 7348] ×2 + 11.76sINFOui_teleop_bridge-18process has finished cleanly [pid 7358] ×2 + 11.76sINFOwaypoint_manager_node-11process has finished cleanly [pid 7349] ×2 + 11.77sINFOcomponent_container_mt-16process has finished cleanly [pid 7354] ×2 + 11.82sINFOobjective_server_node[0;m[2026-09-04 01:53:28.704] [moveit_pro_license] [critical] ×2 + 11.82sINFOobjective_server_node************************************************* ×4 + 11.82sINFOobjective_server_node* MoveIt Pro License ×2 + 11.82sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.97sINFOobjective_server_node_main-14process has finished cleanly [pid 7352] ×2 + 11.97sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.68sINFOweb_bridge-19process has finished cleanly [pid 7361] ×2 + 12.68sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.86sINFOcomponent_container_mt-15process has finished cleanly [pid 7353] ×2 + 13.34sINFOros2_control_node-1process has finished cleanly [pid 7310] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.2s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 1.31sINFOobjective_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 + 1.32sERRORobjective_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: 1788486557.80888128 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.95sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.95sINFOobjective_server_nodecaller: ×8 + 1.95sINFOobjective_server_nodetype: 0 ×8 + 1.95sINFOobjective_server_nodename: "" ×8 + 1.95sINFOobjective_server_nodeinstance_id: "" ×8 + 1.95sINFOobjective_server_node ×8 + 2.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 2.98sWARNros2_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 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.080625 ms (missed cycles : 8). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.080625 ms (missed cycles : 8).[0m ×2 + 7.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.27sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 1 iterations (0.00357568 s). ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391389 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391389 ms (missed cycles : 3).[0m ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 7.93sINFOros2_control_node[2026-09-04 01:49:24.416] [info] Received new action goal ×2 + 7.93sINFOros2_control_node[2026-09-04 01:49:24.416] [info] Accepted new action goal ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.652816 ms (missed cycles : 6). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.652816 ms (missed cycles : 6).[0m ×2 + 9.60sWARNros2_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 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102596 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102596 ms (missed cycles : 3).[0m ×2 + 10.23sINFOros2_control_node[2026-09-04 01:49:26.719] [info] Received new action goal ×2 + 10.23sINFOros2_control_node[2026-09-04 01:49:26.719] [info] Accepted new action goal ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2).[0m ×2 + 11.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.99sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Received new action goal ×2 + 11.99sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Accepted new action goal ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4).[0m ×2 + 13.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486569.76736307 seconds ×3 + 13.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.81sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486570.38029265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486570.47043300 seconds ×3 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2).[0m ×2 + 14.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.57sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.62sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486571.11185718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 14.73sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.75sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Accepted new action goal ×2 + 14.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.73sINFOobjective_server_nodecaller: ×12 + 0.73sINFOobjective_server_nodetype: 0 ×12 + 0.73sINFOobjective_server_nodename: "" ×12 + 0.73sINFOobjective_server_nodeinstance_id: "" ×12 + 0.73sINFOobjective_server_node ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.71sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.24sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325986 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325986 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476680 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476680 ms (missed cycles : 4).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.100706 ms (missed cycles : 8). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.100706 ms (missed cycles : 8).[0m ×2 + 8.58sWARNros2_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 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498653 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498653 ms (missed cycles : 2).[0m ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 10.04sINFOros2_control_node[2026-09-04 01:49:02.898] [info] Received new action goal ×2 + 10.04sINFOros2_control_node[2026-09-04 01:49:02.898] [info] Accepted new action goal ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706388 ms (missed cycles : 5). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706388 ms (missed cycles : 5).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960186 ms (missed cycles : 2). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960186 ms (missed cycles : 2).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085681 ms (missed cycles : 4). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085681 ms (missed cycles : 4).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 13.36sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.38sINFOros2_control_node[2026-09-04 01:49:06.237] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-09-04 01:49:06.237] [info] Accepted new action goal ×2 + 14.05sINFOobjective_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 + 14.06sINFOros2_control_node[2026-09-04 01:49:06.914] [info] Got request to cancel active goal. ×2 + 14.06sINFOros2_control_node[2026-09-04 01:49:06.914] [info] Canceling active goal... ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441788 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441788 ms (missed cycles : 3).[0m ×2 + 14.07sERRORobjective_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: 1788486546.92915511 seconds ×3 + 14.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.53sWARNros2_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 + 14.61sINFOobjective_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: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788486547.52831674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 14.89sINFOros2_control_node[2026-09-04 01:49:07.742] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-09-04 01:49:07.742] [info] Accepted new action goal ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624470 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624470 ms (missed cycles : 2).[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656973 ms (missed cycles : 3). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656973 ms (missed cycles : 3).[0m ×2 + 17.15sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 17.16sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.17sINFOros2_control_node[2026-09-04 01:49:10.022] [info] Received new action goal ×2 + 17.17sINFOros2_control_node[2026-09-04 01:49:10.022] [info] Accepted new action goal ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462537 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462537 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409765 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409765 ms (missed cycles : 7).[0m ×2 + 0.48sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.62sWARNros2_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 + 0.75sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.75sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.76sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788486590.29489326 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850062 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850062 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529893 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529893 ms (missed cycles : 2).[0m ×2 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533639 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533639 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788486592.92781949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 01:49:53.121] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 01:49:53.121] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965388 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965388 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.456101 ms (missed cycles : 7). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.456101 ms (missed cycles : 7).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.439983 ms (missed cycles : 7). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.439983 ms (missed cycles : 7).[0m ×2 + 6.61sWARNros2_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 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753666 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753666 ms (missed cycles : 2).[0m ×2 + 7.88sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.88sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.88sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 1 iterations (0.00315155 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 2 iterations (0.00506885 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 1 iterations (0.00353423 s). ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.810697 ms (missed cycles : 6). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.810697 ms (missed cycles : 6).[0m ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.17sINFOros2_control_node[2026-09-04 01:49:58.685] [info] Received new action goal ×2 + 9.17sINFOros2_control_node[2026-09-04 01:49:58.685] [info] Accepted new action goal ×2 + 9.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710699 ms (missed cycles : 3). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710699 ms (missed cycles : 3).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185672 ms (missed cycles : 5). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185672 ms (missed cycles : 5).[0m ×2 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 11.70sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 11.71sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 11.82sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.84sINFOobjective_server_nodeFound path in 1 iterations (0.00339224 s). ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.08sINFOros2_control_node[2026-09-04 01:50:01.594] [info] Received new action goal ×2 + 12.08sINFOros2_control_node[2026-09-04 01:50:01.594] [info] Accepted new action goal ×2 + 12.48sINFOros2_control_node[2026-09-04 01:50:01.996] [info] Received new action goal ×2 + 12.48sINFOros2_control_node[2026-09-04 01:50:01.996] [info] Accepted new action goal ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915830 ms (missed cycles : 5). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915830 ms (missed cycles : 5).[0m ×2 + 12.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.79sINFOobjective_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 + 13.79sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.80sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.84sERRORobjective_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: 1788486603.35126662 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315129 ms (missed cycles : 4). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315129 ms (missed cycles : 4).[0m ×2 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.62sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788486604.13315129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 14.78sINFOros2_control_node[2026-09-04 01:50:04.297] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-04 01:50:04.297] [info] Accepted new action goal ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269536 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269536 ms (missed cycles : 4).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822043 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822043 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.611065 ms (missed cycles : 5). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.611065 ms (missed cycles : 5).[0m ×2 + 17.29sINFOros2_control_node[2026-09-04 01:50:06.798] [info] Received new action goal ×2 + 17.29sINFOros2_control_node[2026-09-04 01:50:06.798] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNros2_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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002223 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002223 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749343 ms (missed cycles : 6). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749343 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806560 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806560 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788486773.82136297 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.03sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.03sINFOobjective_server_nodecaller: ×8 + 3.03sINFOobjective_server_nodetype: 0 ×8 + 3.03sINFOobjective_server_nodename: "" ×8 + 3.03sINFOobjective_server_nodeinstance_id: "" ×8 + 3.03sINFOobjective_server_node ×8 + 3.09sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788486774.46990728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.22sINFOros2_control_node[2026-09-04 01:52:54.603] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-04 01:52:54.603] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290205 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290205 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588840 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588840 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646488 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646488 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782931 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782931 ms (missed cycles : 3).[0m ×2 + 7.33sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248603 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248603 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640667 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640667 ms (missed cycles : 3).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105784 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105784 ms (missed cycles : 4).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 12.06sWARNros2_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 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 13.42sINFOobjective_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 + 13.43sERRORobjective_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: 1788486784.81287408 seconds ×3 + 14.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 14.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 14.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.68sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.73sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_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 + 14.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 15.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.30sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.46sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.48sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 54 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658650 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658650 ms (missed cycles : 3).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653750 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653750 ms (missed cycles : 3).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795429 ms (missed cycles : 6). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795429 ms (missed cycles : 6).[0m ×2 + 9.41sWARNros2_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 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445028 ms (missed cycles : 5). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445028 ms (missed cycles : 5).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829116 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829116 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622267 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622267 ms (missed cycles : 3).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682453 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682453 ms (missed cycles : 2).[0m ×2 + 13.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.36sERRORobjective_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: 1788486763.31150842 seconds ×3 + 13.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 13.97sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788486763.92445517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619503 ms (missed cycles : 5). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619503 ms (missed cycles : 5).[0m ×2 + 14.25sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 14.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.28sINFOros2_control_node[2026-09-04 01:52:44.228] [info] Received new action goal ×2 + 14.28sINFOros2_control_node[2026-09-04 01:52:44.228] [info] Accepted new action goal ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731687 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731687 ms (missed cycles : 3).[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042983 ms (missed cycles : 5). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042983 ms (missed cycles : 5).[0m ×2 + 16.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 54 warnings · 2310 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×352 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×352 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×704 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×704 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486741.27754998 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486741.98312020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879147 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879147 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.76sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.05sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 1 iterations (0.00334063 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X________________X] ×2 + 8.36sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.38sINFOros2_control_node[2026-09-04 01:52:26.400] [info] Received new action goal ×2 + 8.38sINFOros2_control_node[2026-09-04 01:52:26.400] [info] Accepted new action goal ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926970 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926970 ms (missed cycles : 2).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939836 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939836 ms (missed cycles : 2).[0m ×2 + 10.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 10.68sINFOros2_control_node[2026-09-04 01:52:28.702] [info] Received new action goal ×2 + 10.68sINFOros2_control_node[2026-09-04 01:52:28.702] [info] Accepted new action goal ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977915 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977915 ms (missed cycles : 2).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 12.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.46sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 12.46sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 13.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 14.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 15.14sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 15.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 17.04sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 55 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717469 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717469 ms (missed cycles : 2).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941576 ms (missed cycles : 5). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941576 ms (missed cycles : 5).[0m ×2 + 8.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.09sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 1 iterations (0.00268148 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 2 iterations (0.00495394 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 1 iterations (0.00360236 s). ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125652 ms (missed cycles : 5). + 9.04sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125652 ms (missed cycles : 5).[0m ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.31sINFOros2_control_node[2026-09-04 01:49:47.730] [info] Received new action goal ×2 + 9.31sINFOros2_control_node[2026-09-04 01:49:47.730] [info] Accepted new action goal ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358166 ms (missed cycles : 3). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358166 ms (missed cycles : 3).[0m ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409765 ms (missed cycles : 7). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409765 ms (missed cycles : 7).[0m ×2 + 11.58sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.71sWARNros2_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 + 11.84sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.85sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.85sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788486590.29489326 seconds ×3 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850062 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850062 ms (missed cycles : 2).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529893 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529893 ms (missed cycles : 2).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533639 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533639 ms (missed cycles : 3).[0m ×2 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.51sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788486592.92781949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 14.70sINFOros2_control_node[2026-09-04 01:49:53.121] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-04 01:49:53.121] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965388 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965388 ms (missed cycles : 2).[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.456101 ms (missed cycles : 7). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.456101 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960186 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960186 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085681 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085681 ms (missed cycles : 4).[0m ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.32sINFOros2_control_node[2026-09-04 01:49:06.237] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-09-04 01:49:06.237] [info] Accepted new action goal ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.00sINFOros2_control_node[2026-09-04 01:49:06.914] [info] Got request to cancel active goal. ×2 + 2.00sINFOros2_control_node[2026-09-04 01:49:06.914] [info] Canceling active goal... ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441788 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441788 ms (missed cycles : 3).[0m ×2 + 2.01sERRORobjective_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: 1788486546.92915511 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.55sINFOobjective_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: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.55sINFOobjective_server_nodecaller: ×6 + 2.55sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788486547.52831674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 2.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.83sINFOros2_control_node[2026-09-04 01:49:07.742] [info] Received new action goal ×2 + 2.83sINFOros2_control_node[2026-09-04 01:49:07.742] [info] Accepted new action goal ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624470 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624470 ms (missed cycles : 2).[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656973 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656973 ms (missed cycles : 3).[0m ×2 + 4.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.11sINFOros2_control_node[2026-09-04 01:49:10.022] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-09-04 01:49:10.022] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462537 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462537 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162628 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162628 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211570 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211570 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191658 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191658 ms (missed cycles : 4).[0m ×2 + 8.52sWARNros2_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 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892858 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892858 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933730 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933730 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 12.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486557.80888128 seconds ×3 + 13.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 14.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 14.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.50sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 14.50sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 14.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4).[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486569.76736307 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486570.38029265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486570.47043300 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486571.11185718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Accepted new action goal ×2 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2).[0m ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (4.92e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.23sINFOros2_control_node[2026-09-04 01:49:34.595] [info] Received new action goal ×2 + 7.23sINFOros2_control_node[2026-09-04 01:49:34.596] [info] Accepted new action goal ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188909 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188909 ms (missed cycles : 4).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220876 ms (missed cycles : 3). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220876 ms (missed cycles : 3).[0m ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 9.58sINFOros2_control_node[2026-09-04 01:49:36.943] [info] Received new action goal ×2 + 9.58sINFOros2_control_node[2026-09-04 01:49:36.943] [info] Accepted new action goal ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349165 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349165 ms (missed cycles : 2).[0m ×2 + 10.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 11.93sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 11.93sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 11.93sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 13.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.95sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 13.95sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 13.96sERRORobjective_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: 1788486581.32436252 seconds ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 14.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 14.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.79sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 16.10sWARNros2_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 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 1.40sINFOobjective_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 + 1.41sERRORobjective_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: 1788486784.81287408 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.00sINFOobjective_server_nodecaller: ×14 + 2.00sINFOobjective_server_nodetype: 0 ×14 + 2.00sINFOobjective_server_nodename: "" ×14 + 2.00sINFOobjective_server_nodeinstance_id: "" ×14 + 2.00sINFOobjective_server_node ×14 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.45sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.76sINFOros2_control_node[2026-09-04 01:53:10.166] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-09-04 01:53:10.166] [info] Accepted new action goal ×2 + 6.76sINFOros2_control_node[2026-09-04 01:53:10.167] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086831 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086831 ms (missed cycles : 5).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382922 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382922 ms (missed cycles : 4).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716633 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716633 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822875 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822875 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864304 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864304 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3).[0m ×2 + 12.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 13.48sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Got request to cancel active goal. ×2 + 13.48sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Canceling active goal... ×2 + 13.48sERRORobjective_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: 1788486796.88775587 seconds ×3 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2).[0m ×2 + 14.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486797.48134470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486798.52146888 seconds ×3 + 15.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.66sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.71sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486799.11111069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.71sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.71sINFOobjective_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 + 15.71sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.71sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486799.11363959 seconds ×3 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2).[0m ×2 + 16.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.26sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486799.71275449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486799.71326160 seconds ×3 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2).[0m ×2 + 16.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486800.44131398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 52 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829116 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829116 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622267 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622267 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682453 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682453 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_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 + 2.38sERRORobjective_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: 1788486763.31150842 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788486763.92445517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619503 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619503 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.30sINFOros2_control_node[2026-09-04 01:52:44.228] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 01:52:44.228] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731687 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731687 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042983 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042983 ms (missed cycles : 5).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672764 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672764 ms (missed cycles : 3).[0m ×2 + 7.31sINFOros2_control_node[2026-09-04 01:52:48.236] [info] Received new action goal ×2 + 7.31sINFOros2_control_node[2026-09-04 01:52:48.236] [info] Accepted new action goal ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267373 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267373 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460078 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460078 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521997 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521997 ms (missed cycles : 3).[0m ×2 + 10.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002223 ms (missed cycles : 4). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002223 ms (missed cycles : 4).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749343 ms (missed cycles : 6). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749343 ms (missed cycles : 6).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806560 ms (missed cycles : 5). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806560 ms (missed cycles : 5).[0m ×2 + 12.89sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788486773.82136297 seconds ×3 + 13.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.48sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.54sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788486774.46990728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.66sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 13.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.68sINFOros2_control_node[2026-09-04 01:52:54.603] [info] Received new action goal ×2 + 13.68sINFOros2_control_node[2026-09-04 01:52:54.603] [info] Accepted new action goal ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290205 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290205 ms (missed cycles : 2).[0m ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588840 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588840 ms (missed cycles : 3).[0m ×2 + 15.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646488 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646488 ms (missed cycles : 3).[0m ×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 ×4 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702726 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702726 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817222 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817222 ms (missed cycles : 5).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788486615.37004685 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.52sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.52sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788486616.02536058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788486616.11550355 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677525 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677525 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.37sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.01sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.09sINFOobjective_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 + 7.10sINFOobjective_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 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.43sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 7.43sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 691 info |
+ 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.00sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.00sWARNros2_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 + 0.00sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.00sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.00sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793543 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793543 ms (missed cycles : 2).[0m ×2 + 0.13sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.13sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.16sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.16sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.17sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.18sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.18sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.18sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.18sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.18sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.18sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.27sINFOcomponent_container_mt[2026-09-04 01:48:48.955] [moveit_pro_license] [info] ×2 + 0.27sINFOcomponent_container_mt************************************************* ×4 + 0.27sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.27sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.54sINFOros2-3process has finished cleanly [pid 7312] ×2 + 0.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.64sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.64sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.64sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.64sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.64sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.64sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.69sINFOros2_control_node[2026-09-04 01:48:49.371] [info] Controller state will be published at 20 Hz. ×2 + 0.69sINFOros2_control_node[2026-09-04 01:48:49.372] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.90sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.90sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.93sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.93sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.93sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOforce_torque_sensor_broadcasterconfigure successful + 0.94sINFOros2_control_nodeconfigure successful[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.94sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.95sINFOros2-8process has finished cleanly [pid 7328] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919714 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919714 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.26sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.26sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 1.26sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 1.29sINFOros2-2process has finished cleanly [pid 7311] ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.63sINFOros2-5process has finished cleanly [pid 7325] ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 1.70sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 1.74sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.74sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-09-04 01:48:50.421] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.74sINFOros2_control_node[2026-09-04 01:48:50.421] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.76sINFOros2_control_node[2026-09-04 01:48:50.444] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.76sINFOros2_control_node[2026-09-04 01:48:50.444] [info] Controller state will be published at 50 Hz. ×2 + 1.77sINFOros2_control_node[2026-09-04 01:48:50.449] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.80sWARNobjective_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 + 1.86sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 2.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 2.10sINFOros2-6process has finished cleanly [pid 7326] ×2 + 2.13sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.13sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.13sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.13sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.13sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.14sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.14sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.44sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.44sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.44sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.44sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.47sINFOros2-4process has finished cleanly [pid 7324] ×2 + 2.51sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 2.51sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 2.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.55sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.55sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.57sINFOros2_control_node[2026-09-04 01:48:51.257] [info] Controller state will be published at 10 Hz. ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOros2_control_node[2026-09-04 01:48:51.258] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.58sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.58sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.58sINFOobjective_server_nodecaller: ×14 + 2.58sINFOobjective_server_nodetype: 0 ×14 + 2.58sINFOobjective_server_nodename: "" ×14 + 2.58sINFOobjective_server_nodeinstance_id: "" ×14 + 2.58sINFOobjective_server_node ×14 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486531.31153774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486531.32175803 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2-7process has finished cleanly [pid 7327] ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 4.17sWARNros2_control_nodeCamera render tick took 1.88 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 + 4.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 7.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.77sINFOobjective_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 + 7.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.89sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822875 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822875 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864304 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864304 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Canceling active goal... ×2 + 2.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486796.88775587 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.44sINFOobjective_server_nodecaller: ×8 + 3.44sINFOobjective_server_nodetype: 0 ×8 + 3.44sINFOobjective_server_nodename: "" ×8 + 3.44sINFOobjective_server_nodeinstance_id: "" ×8 + 3.44sINFOobjective_server_node ×8 + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486797.48134470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486798.52146888 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486799.11111069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486799.11363959 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486799.71275449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486799.71326160 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486800.44131398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373206 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373206 ms (missed cycles : 3).[0m ×2 + 7.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788486801.55143595 seconds ×3 + 7.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447287 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447287 ms (missed cycles : 3).[0m ×2 + 0.70sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702726 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702726 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817222 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817222 ms (missed cycles : 5).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788486615.37004685 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788486616.02536058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788486616.11550355 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677525 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677525 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_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 + 0.75sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Got request to cancel active goal. ×2 + 0.75sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Canceling active goal... ×2 + 0.75sERRORobjective_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: 1788486796.88775587 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.30sINFOobjective_server_nodecaller: ×8 + 1.30sINFOobjective_server_nodetype: 0 ×8 + 1.30sINFOobjective_server_nodename: "" ×8 + 1.30sINFOobjective_server_nodeinstance_id: "" ×8 + 1.30sINFOobjective_server_node ×8 + 1.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486797.48134470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486798.52146888 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486799.11111069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.98sINFOobjective_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 + 2.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486799.11363959 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486799.71275449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486799.71326160 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486800.44131398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373206 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788486801.55143595 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883975 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883975 ms (missed cycles : 2).[0m ×2 + 6.36sWARNros2_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 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1788486784.81287408 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 01:49:26.719] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 01:49:26.719] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Accepted new action goal ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486569.76736307 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486570.38029265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486570.47043300 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.39sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486571.11185718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.52sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Accepted new action goal ×2 + 4.76sWARNros2_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 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933730 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_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 + 2.39sERRORobjective_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: 1788486557.80888128 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.99sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 496 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7325] ×2 + 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 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [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 + 0.10sINFOros2_control_node[2026-09-04 01:48:50.421] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.10sINFOros2_control_node[2026-09-04 01:48:50.421] [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 ×4 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.444] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.444] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.449] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.17sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.47sINFOros2-6process has finished cleanly [pid 7326] ×2 + 0.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-09-04 01:48:51.257] [info] Controller state will be published at 10 Hz. ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOros2_control_node[2026-09-04 01:48:51.258] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.94sINFOobjective_server_nodecaller: ×14 + 0.94sINFOobjective_server_nodetype: 0 ×14 + 0.94sINFOobjective_server_nodename: "" ×14 + 0.94sINFOobjective_server_nodeinstance_id: "" ×14 + 0.94sINFOobjective_server_node ×14 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486531.31153774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486531.32175803 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2).[0m ×2 + 1.27sINFOros2-7process has finished cleanly [pid 7327] ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 2.54sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1788486784.81287408 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_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 + 0.75sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Got request to cancel active goal. ×2 + 0.75sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Canceling active goal... ×2 + 0.75sERRORobjective_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: 1788486796.88775587 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.30sINFOobjective_server_nodecaller: ×8 + 1.30sINFOobjective_server_nodetype: 0 ×8 + 1.30sINFOobjective_server_nodename: "" ×8 + 1.30sINFOobjective_server_nodeinstance_id: "" ×8 + 1.30sINFOobjective_server_node ×8 + 1.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486797.48134470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486798.52146888 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486799.11111069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.98sINFOobjective_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 + 2.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486799.11363959 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486799.71275449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486799.71326160 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486800.44131398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373206 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788486801.55143595 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883975 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883975 ms (missed cycles : 2).[0m ×2 + 6.36sWARNros2_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 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2200 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×352 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×352 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×704 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×704 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486741.27754998 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486741.98312020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4).[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486569.76736307 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486570.38029265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486570.47043300 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486571.11185718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Accepted new action goal ×2 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933730 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_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 + 2.39sERRORobjective_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: 1788486557.80888128 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.99sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933730 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_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 + 2.39sERRORobjective_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: 1788486557.80888128 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.99sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 1.31sINFOobjective_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 + 1.32sERRORobjective_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: 1788486557.80888128 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.95sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.95sINFOobjective_server_nodecaller: ×4 + 1.95sINFOobjective_server_nodetype: 0 ×4 + 1.95sINFOobjective_server_nodename: "" ×4 + 1.95sINFOobjective_server_nodeinstance_id: "" ×4 + 1.95sINFOobjective_server_node ×4 + 2.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 2.98sWARNros2_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 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 1.31sINFOobjective_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 + 1.32sERRORobjective_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: 1788486557.80888128 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.95sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.95sINFOobjective_server_nodecaller: ×4 + 1.95sINFOobjective_server_nodetype: 0 ×4 + 1.95sINFOobjective_server_nodename: "" ×4 + 1.95sINFOobjective_server_nodeinstance_id: "" ×4 + 1.95sINFOobjective_server_node ×4 + 2.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 2.98sWARNros2_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 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 1.31sINFOobjective_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 + 1.32sERRORobjective_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: 1788486557.80888128 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.95sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.95sINFOobjective_server_nodecaller: ×4 + 1.95sINFOobjective_server_nodetype: 0 ×4 + 1.95sINFOobjective_server_nodename: "" ×4 + 1.95sINFOobjective_server_nodeinstance_id: "" ×4 + 1.95sINFOobjective_server_node ×4 + 2.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 2.98sWARNros2_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 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602606 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184727 ms (missed cycles : 4).[0m ×2 + 1.31sINFOobjective_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 + 1.32sERRORobjective_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: 1788486557.80888128 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.95sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.95sINFOobjective_server_nodecaller: ×4 + 1.95sINFOobjective_server_nodetype: 0 ×4 + 1.95sINFOobjective_server_nodename: "" ×4 + 1.95sINFOobjective_server_nodeinstance_id: "" ×4 + 1.95sINFOobjective_server_node ×4 + 2.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788486558.50316024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788486558.58327556 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568951 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788486559.21718717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-04 01:49:19.411] [info] Accepted new action goal ×2 + 2.98sWARNros2_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 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452589 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772771 ms (missed cycles : 6).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4).[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486569.76736307 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486570.38029265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486570.47043300 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486571.11185718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Accepted new action goal ×2 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4).[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486569.76736307 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486570.38029265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486570.47043300 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486571.11185718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Accepted new action goal ×2 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4).[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486569.76736307 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486570.38029265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486570.47043300 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486571.11185718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Accepted new action goal ×2 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294171 ms (missed cycles : 4).[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811334 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-04 01:49:28.481] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410478 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788486569.76736307 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788486570.38029265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788486570.47043300 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714103 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788486571.11185718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 01:49:31.238] [info] Accepted new action goal ×2 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713769 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238482 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113754 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364735 ms (missed cycles : 3).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-09-04 01:49:39.293] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159835 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662285 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:49:41.312] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1788486581.32436252 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640626 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788486581.95291948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-04 01:49:42.147] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032053 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478896 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185672 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185672 ms (missed cycles : 5).[0m ×2 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.26sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.39sINFOobjective_server_nodeFound path in 1 iterations (0.00339224 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOros2_control_node[2026-09-04 01:50:01.594] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 01:50:01.594] [info] Accepted new action goal ×2 + 1.03sINFOros2_control_node[2026-09-04 01:50:01.996] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-04 01:50:01.996] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915830 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915830 ms (missed cycles : 5).[0m ×2 + 1.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.35sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.35sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.39sERRORobjective_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: 1788486603.35126662 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315129 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315129 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.06sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.06sINFOobjective_server_nodecaller: ×2 + 3.06sINFOobjective_server_nodetype: 0 ×2 + 3.06sINFOobjective_server_nodename: "" ×2 + 3.06sINFOobjective_server_nodeinstance_id: "" ×2 + 3.06sINFOobjective_server_node ×2 + 3.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788486604.13315129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.34sINFOros2_control_node[2026-09-04 01:50:04.297] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-04 01:50:04.297] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269536 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269536 ms (missed cycles : 4).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822043 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822043 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.611065 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.611065 ms (missed cycles : 5).[0m ×2 + 5.84sINFOros2_control_node[2026-09-04 01:50:06.798] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-04 01:50:06.798] [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 3.447287 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447287 ms (missed cycles : 3).[0m ×2 + 0.70sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702726 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702726 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817222 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817222 ms (missed cycles : 5).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788486615.37004685 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788486616.02536058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788486616.11550355 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677525 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677525 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 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: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788486616.70881605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 01:50:16.822] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364555 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.157527 ms (missed cycles : 8).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788486618.82893753 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384233 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056727 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788486620.46766734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 01:50:20.878] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137251 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717001 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356737 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745019 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745019 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032233 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032233 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788486674.73447180 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788486675.33799505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.05sINFOros2_control_node[2026-09-04 01:51:15.511] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-04 01:51:15.511] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788388 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788388 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584652 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584652 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_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 + 4.34sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826960 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826960 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2200 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×352 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×352 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×704 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×704 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486741.27754998 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486741.98312020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2200 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×352 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×352 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×704 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×704 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486741.27754998 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486741.98312020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2200 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×352 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×352 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×704 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×704 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486741.27754998 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486741.98312020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2200 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×352 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×352 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×704 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×704 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420667 ms (missed cycles : 7).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731112 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788486741.27754998 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788486741.98312020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255392 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 01:52:22.197] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850342 ms (missed cycles : 6).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.187931 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769493 ms (missed cycles : 2).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-04 01:52:30.477] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890119 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788486751.76327777 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190670 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788486752.97109962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 01:52:33.155] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037698 ms (missed cycles : 3).[0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134925 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769720 ms (missed cycles : 2).[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 1.829116 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829116 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622267 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622267 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682453 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682453 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_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 + 2.38sERRORobjective_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: 1788486763.31150842 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788486763.92445517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619503 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619503 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.30sINFOros2_control_node[2026-09-04 01:52:44.228] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 01:52:44.228] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731687 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731687 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042983 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042983 ms (missed cycles : 5).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNros2_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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002223 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002223 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749343 ms (missed cycles : 6). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749343 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806560 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806560 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788486773.82136297 seconds ×3 + 2.50sINFOcontroller_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! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_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: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788486774.46990728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.22sINFOros2_control_node[2026-09-04 01:52:54.603] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-04 01:52:54.603] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290205 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290205 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588840 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588840 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646488 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646488 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1788486784.81287408 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1788486784.81287408 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1788486784.81287408 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141093 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1788486784.81287408 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 1.40sINFOobjective_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 + 1.41sERRORobjective_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: 1788486784.81287408 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.00sINFOobjective_server_nodecaller: ×6 + 2.00sINFOobjective_server_nodetype: 0 ×6 + 2.00sINFOobjective_server_nodename: "" ×6 + 2.00sINFOobjective_server_nodeinstance_id: "" ×6 + 2.00sINFOobjective_server_node ×6 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.45sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 1.40sINFOobjective_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 + 1.41sERRORobjective_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: 1788486784.81287408 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.00sINFOobjective_server_nodecaller: ×6 + 2.00sINFOobjective_server_nodetype: 0 ×6 + 2.00sINFOobjective_server_nodename: "" ×6 + 2.00sINFOobjective_server_nodeinstance_id: "" ×6 + 2.00sINFOobjective_server_node ×6 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.45sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538698 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150020 ms (missed cycles : 5).[0m ×2 + 1.40sINFOobjective_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 + 1.41sERRORobjective_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: 1788486784.81287408 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.00sINFOobjective_server_nodecaller: ×6 + 2.00sINFOobjective_server_nodetype: 0 ×6 + 2.00sINFOobjective_server_nodename: "" ×6 + 2.00sINFOobjective_server_nodeinstance_id: "" ×6 + 2.00sINFOobjective_server_node ×6 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788486785.45267367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515230 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788486785.52279592 seconds ×3 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788486786.11453819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788486786.13774610 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613519 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788486786.73324966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.45sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-04 01:53:06.857] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757581 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116905 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434265 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822875 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822875 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864304 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864304 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Canceling active goal... ×2 + 2.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486796.88775587 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.44sINFOobjective_server_nodecaller: ×8 + 3.44sINFOobjective_server_nodetype: 0 ×8 + 3.44sINFOobjective_server_nodename: "" ×8 + 3.44sINFOobjective_server_nodeinstance_id: "" ×8 + 3.44sINFOobjective_server_node ×8 + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486797.48134470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486798.52146888 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486799.11111069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486799.11363959 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486799.71275449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486799.71326160 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486800.44131398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822875 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822875 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864304 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864304 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150968 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-04 01:53:16.883] [info] Canceling active goal... ×2 + 2.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788486796.88775587 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290356 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.44sINFOobjective_server_nodecaller: ×8 + 3.44sINFOobjective_server_nodetype: 0 ×8 + 3.44sINFOobjective_server_nodename: "" ×8 + 3.44sINFOobjective_server_nodeinstance_id: "" ×8 + 3.44sINFOobjective_server_node ×8 + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788486797.48134470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139234 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788486798.52146888 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788486799.11111069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788486799.11363959 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185314 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788486799.71275449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788486799.71326160 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273879 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788486800.44131398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [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 | 42 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-01-48-44-514164-64f49be3ecda-7262 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_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. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069979 ms (missed cycles : 2). + 0.77sINFOros2_control_node-1process started with pid [7310] ×2 + 0.77sINFOmove_group-9process started with pid [7347] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [7348] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [7349] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [7350] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [7351] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [7352] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [7353] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [7354] ×2 + 0.78sINFOexecute_objective_bridge-17process started with pid [7355] ×2 + 0.78sINFOui_teleop_bridge-18process started with pid [7358] ×2 + 0.78sINFOweb_bridge-19process started with pid [7361] ×2 + 0.78sINFOtf2_web_republisher_node-20process started with pid [7428] ×2 + 0.78sINFOvideo_server-21process started with pid [7436] ×2 + 0.78sINFOweb_bridge_auth_proxy-22process started with pid [7437] ×2 + 0.78sINFOweb_video_auth_proxy-23process started with pid [7438] ×2 + 0.78sINFOros2-2process started with pid [7311] ×2 + 0.78sINFOros2-3process started with pid [7312] ×2 + 0.78sINFOros2-4process started with pid [7324] ×2 + 0.78sINFOros2-5process started with pid [7325] ×2 + 0.78sINFOros2-6process started with pid [7326] ×2 + 0.78sINFOros2-7process started with pid [7327] ×2 + 0.78sINFOros2-8process started with pid [7328] ×2 + 0.79sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.79sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.79sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.79sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.79sWARNros2_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 + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069979 ms (missed cycles : 2).[0m ×2 + 0.85sINFOcontroller_managerReceived robot description from topic. + 0.85sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.85sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.85sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.89sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOvideo_server2026/09/04 01:48:45 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.03sINFOvideo_server2026/09/04 01:48:45 INF configuration loaded from /tmp/moveit-webrtc-8cch5ton/mediamtx.yml ×2 + 1.03sINFOvideo_server2026/09/04 01:48:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.03sINFOvideo_server2026/09/04 01:48:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.03sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.44sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.44sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-09-04 01:48:46.734] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.89sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.89sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.89sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.90sINFOros2_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 + 1.90sINFOros2_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 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727826 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727826 ms (missed cycles : 3).[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.19sINFOwaypoint_manager_node[2026-09-04 01:48:47.087] [moveit_pro_license] [info] ×2 + 2.19sINFOwaypoint_manager_node************************************************* ×4 + 2.19sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.19sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.34sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.34sINFOmove_group ×4 + 2.34sINFOmove_group[92mYou can start planning now![0m ×2 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.29sINFOobjective_server_node[2026-09-04 01:48:48.179] [moveit_pro_license] [info] ×2 + 3.29sINFOobjective_server_node************************************************* ×4 + 3.29sINFOobjective_server_node* MoveIt Pro License ×2 + 3.29sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.40sINFOobjective_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 + 3.40sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.79sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.79sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.79sWARNros2_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 + 3.79sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.79sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.79sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.79sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.79sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.79sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.79sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.79sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.79sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.79sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.79sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.79sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.79sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793543 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793543 ms (missed cycles : 2).[0m ×2 + 3.92sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.92sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.95sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 3.95sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 3.96sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.06sINFOcomponent_container_mt[2026-09-04 01:48:48.955] [moveit_pro_license] [info] ×2 + 4.06sINFOcomponent_container_mt************************************************* ×4 + 4.06sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.06sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.33sINFOros2-3process has finished cleanly [pid 7312] ×2 + 4.40sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 4.40sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 4.43sINFOros2_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 + 4.43sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.43sWARNros2_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 + 4.43sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.43sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.43sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.43sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.44sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.48sINFOros2_control_node[2026-09-04 01:48:49.371] [info] Controller state will be published at 20 Hz. ×2 + 4.48sINFOros2_control_node[2026-09-04 01:48:49.372] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.69sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.69sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.69sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.69sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.69sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 4.69sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 4.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.72sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.73sINFOforce_torque_sensor_broadcasterconfigure successful + 4.73sINFOros2_control_nodeconfigure successful[0m ×2 + 4.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.74sINFOros2-8process has finished cleanly [pid 7328] ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919714 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919714 ms (missed cycles : 2).[0m ×2 + 5.05sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.05sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.05sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 5.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 5.08sINFOros2-2process has finished cleanly [pid 7311] ×2 + 5.11sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.11sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.11sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.11sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.11sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.11sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.11sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.12sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.12sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.12sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.13sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.42sINFOros2-5process has finished cleanly [pid 7325] ×2 + 5.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 5.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 5.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.53sINFOros2_control_node[2026-09-04 01:48:50.421] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.53sINFOros2_control_node[2026-09-04 01:48:50.421] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.55sINFOros2_control_node[2026-09-04 01:48:50.444] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.55sINFOros2_control_node[2026-09-04 01:48:50.444] [info] Controller state will be published at 50 Hz. ×2 + 5.56sINFOros2_control_node[2026-09-04 01:48:50.449] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.59sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.88sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 5.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 5.89sINFOros2-6process has finished cleanly [pid 7326] ×2 + 5.92sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.92sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.92sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.93sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.23sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.23sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.23sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.23sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.26sINFOros2-4process has finished cleanly [pid 7324] ×2 + 6.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 6.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 6.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:51.257] [info] Controller state will be published at 10 Hz. ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.37sINFOros2_control_node[2026-09-04 01:48:51.258] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.37sINFOobjective_server_nodecaller: ×10 + 6.37sINFOobjective_server_nodetype: 0 ×10 + 6.37sINFOobjective_server_nodename: "" ×10 + 6.37sINFOobjective_server_nodeinstance_id: "" ×10 + 6.37sINFOobjective_server_node ×10 + 6.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486531.31153774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486531.32175803 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2).[0m ×2 + 6.70sINFOros2-7process has finished cleanly [pid 7327] ×2 + 6.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 7.96sWARNros2_control_nodeCamera render tick took 1.88 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 + 8.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 8.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.69sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 9.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 10.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 10.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 349 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7327] ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.27sINFOobjective_server_nodecaller: ×12 + 0.27sINFOobjective_server_nodetype: 0 ×12 + 0.27sINFOobjective_server_nodename: "" ×12 + 0.27sINFOobjective_server_nodeinstance_id: "" ×12 + 0.27sINFOobjective_server_node ×12 + 0.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 3.77sWARNros2_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 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 7.12sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.51sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 7.51sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 437 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.01sINFOros2-6process has finished cleanly [pid 7326] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-09-04 01:48:51.257] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.49sINFOros2_control_node[2026-09-04 01:48:51.258] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.49sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.49sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.49sINFOobjective_server_nodecaller: ×14 + 0.49sINFOobjective_server_nodetype: 0 ×14 + 0.49sINFOobjective_server_nodename: "" ×14 + 0.49sINFOobjective_server_nodeinstance_id: "" ×14 + 0.49sINFOobjective_server_node ×14 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486531.31153774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486531.32175803 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_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 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 7327] ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 2.08sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 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: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[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 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 4.59sWARNros2_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 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_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 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.80sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 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/2026-09-04-01-48-44-514164-64f49be3ecda-7262 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_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. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069979 ms (missed cycles : 2). + 0.77sINFOros2_control_node-1process started with pid [7310] ×2 + 0.77sINFOmove_group-9process started with pid [7347] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [7348] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [7349] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [7350] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [7351] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [7352] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [7353] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [7354] ×2 + 0.78sINFOexecute_objective_bridge-17process started with pid [7355] ×2 + 0.78sINFOui_teleop_bridge-18process started with pid [7358] ×2 + 0.78sINFOweb_bridge-19process started with pid [7361] ×2 + 0.78sINFOtf2_web_republisher_node-20process started with pid [7428] ×2 + 0.78sINFOvideo_server-21process started with pid [7436] ×2 + 0.78sINFOweb_bridge_auth_proxy-22process started with pid [7437] ×2 + 0.78sINFOweb_video_auth_proxy-23process started with pid [7438] ×2 + 0.78sINFOros2-2process started with pid [7311] ×2 + 0.78sINFOros2-3process started with pid [7312] ×2 + 0.78sINFOros2-4process started with pid [7324] ×2 + 0.78sINFOros2-5process started with pid [7325] ×2 + 0.78sINFOros2-6process started with pid [7326] ×2 + 0.78sINFOros2-7process started with pid [7327] ×2 + 0.78sINFOros2-8process started with pid [7328] ×2 + 0.79sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.79sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.79sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.79sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.79sWARNros2_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 + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069979 ms (missed cycles : 2).[0m ×2 + 0.85sINFOcontroller_managerReceived robot description from topic. + 0.85sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.85sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.85sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.89sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOvideo_server2026/09/04 01:48:45 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.03sINFOvideo_server2026/09/04 01:48:45 INF configuration loaded from /tmp/moveit-webrtc-8cch5ton/mediamtx.yml ×2 + 1.03sINFOvideo_server2026/09/04 01:48:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.03sINFOvideo_server2026/09/04 01:48:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.03sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.44sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.44sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-09-04 01:48:46.734] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.89sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.89sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.89sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.90sINFOros2_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 + 1.90sINFOros2_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 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727826 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727826 ms (missed cycles : 3).[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.19sINFOwaypoint_manager_node[2026-09-04 01:48:47.087] [moveit_pro_license] [info] ×2 + 2.19sINFOwaypoint_manager_node************************************************* ×4 + 2.19sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.19sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.34sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.34sINFOmove_group ×4 + 2.34sINFOmove_group[92mYou can start planning now![0m ×2 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.29sINFOobjective_server_node[2026-09-04 01:48:48.179] [moveit_pro_license] [info] ×2 + 3.29sINFOobjective_server_node************************************************* ×4 + 3.29sINFOobjective_server_node* MoveIt Pro License ×2 + 3.29sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.40sINFOobjective_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 + 3.40sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.42sINFOlaunch_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 | 21 warnings · 496 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7325] ×2 + 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 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [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 + 0.10sINFOros2_control_node[2026-09-04 01:48:50.421] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.10sINFOros2_control_node[2026-09-04 01:48:50.421] [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 ×4 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.444] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.444] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.449] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.17sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.47sINFOros2-6process has finished cleanly [pid 7326] ×2 + 0.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-09-04 01:48:51.257] [info] Controller state will be published at 10 Hz. ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOros2_control_node[2026-09-04 01:48:51.258] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.94sINFOobjective_server_nodecaller: ×14 + 0.94sINFOobjective_server_nodetype: 0 ×14 + 0.94sINFOobjective_server_nodename: "" ×14 + 0.94sINFOobjective_server_nodeinstance_id: "" ×14 + 0.94sINFOobjective_server_node ×14 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486531.31153774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486531.32175803 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2).[0m ×2 + 1.27sINFOros2-7process has finished cleanly [pid 7327] ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 2.54sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 496 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7325] ×2 + 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 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [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 + 0.10sINFOros2_control_node[2026-09-04 01:48:50.421] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.10sINFOros2_control_node[2026-09-04 01:48:50.421] [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 ×4 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.444] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.444] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.449] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.17sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.47sINFOros2-6process has finished cleanly [pid 7326] ×2 + 0.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-09-04 01:48:51.257] [info] Controller state will be published at 10 Hz. ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOros2_control_node[2026-09-04 01:48:51.258] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.94sINFOobjective_server_nodecaller: ×14 + 0.94sINFOobjective_server_nodetype: 0 ×14 + 0.94sINFOobjective_server_nodename: "" ×14 + 0.94sINFOobjective_server_nodeinstance_id: "" ×14 + 0.94sINFOobjective_server_node ×14 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486531.31153774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486531.32175803 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2).[0m ×2 + 1.27sINFOros2-7process has finished cleanly [pid 7327] ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 2.54sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 496 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7325] ×2 + 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 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [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 + 0.10sINFOros2_control_node[2026-09-04 01:48:50.421] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.10sINFOros2_control_node[2026-09-04 01:48:50.421] [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 ×4 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.444] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.444] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 01:48:50.449] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.17sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.47sINFOros2-6process has finished cleanly [pid 7326] ×2 + 0.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-09-04 01:48:51.257] [info] Controller state will be published at 10 Hz. ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOros2_control_node[2026-09-04 01:48:51.258] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.94sINFOobjective_server_nodecaller: ×14 + 0.94sINFOobjective_server_nodetype: 0 ×14 + 0.94sINFOobjective_server_nodename: "" ×14 + 0.94sINFOobjective_server_nodeinstance_id: "" ×14 + 0.94sINFOobjective_server_node ×14 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486531.31153774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486531.32175803 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2).[0m ×2 + 1.27sINFOros2-7process has finished cleanly [pid 7327] ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 2.54sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 437 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.01sINFOros2-6process has finished cleanly [pid 7326] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.09sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 7324] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_041sst8m --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_noli8b51 --params-file /tmp/launch_params_8unp6dbz [0m ×2 + 0.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-09-04 01:48:51.257] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.49sINFOros2_control_node[2026-09-04 01:48:51.258] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.49sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.49sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.49sINFOobjective_server_nodecaller: ×14 + 0.49sINFOobjective_server_nodetype: 0 ×14 + 0.49sINFOobjective_server_nodename: "" ×14 + 0.49sINFOobjective_server_nodeinstance_id: "" ×14 + 0.49sINFOobjective_server_node ×14 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788486531.31153774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788486531.32175803 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_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 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829144 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 7327] ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 2.08sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 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: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[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 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 4.59sWARNros2_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 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_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 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.80sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7327] ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.27sINFOobjective_server_nodecaller: ×12 + 0.27sINFOobjective_server_nodetype: 0 ×12 + 0.27sINFOobjective_server_nodename: "" ×12 + 0.27sINFOobjective_server_nodeinstance_id: "" ×12 + 0.27sINFOobjective_server_node ×12 + 0.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788486531.90786338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 3.77sWARNros2_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 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325986 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325986 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290092 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788486533.01803255 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788486533.63122773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788486533.69142699 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457532 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788486534.35447145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788486534.36460328 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574647 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788486534.95932555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788486535.11020756 seconds ×3 + 2.63sWARNros2_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 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788486535.79412961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788486535.83429408 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546935 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788486536.44327545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.1149e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 01:48:56.570] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905595 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500868 ms (missed cycles : 3).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-04 01:48:59.097] [info] Accepted new action goal ×2 | ||||